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Exact docking flight controller for autonomous aerial refueling with back-stepping based high order sliding mode

机译：精确的对接飞行控制器，用于基于后退的高阶滑模自动空中加油

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摘要

Autonomous aerial refueling (AAR) exact docking control has always been an intractable problem due to the strong nonlinearity, the tight coupling of the 6 DOF aircraft model and the complex disturbances of the multiple environment flows. In this paper, the strongly coupled nonlinear 6 DOF model of the receiver aircraft which considers the multiple flow disturbances is established in the affine nonlinear form to facilitate the nonlinear controller design. The items reflecting the influence of the unknown flow disturbances in the receiver dynamics are taken as the components of the "lumped disturbances" together with the items which have no linear correlation with the virtual control variables. These unmeasurable lumped disturbances are estimated and compensated by a specially designed high order sliding mode observer (HOSMO) with excellent estimation property. With the compensation of the estimated lumped disturbances, a back-stepping high order sliding mode based exact docking flight controller is proposed for AAR in the presence of multiple flow disturbances. Extensive simulation results demonstrate the feasibility and superiority of the proposed docking controller.
机译：由于强大的非线性，6自由度飞机模型的紧密耦合以及多种环境流的复杂干扰，自主空中加油（AAR）的精确对接控制一直是棘手的问题。本文以仿射非线性形式建立了考虑多流扰动的接收机强耦合非线性六自由度模型，以利于非线性控制器的设计。反映未知流动扰动对接收器动力学的影响的项目与与虚拟控制变量没有线性相关性的项目一起被视为“集中扰动”的组成部分。这些不可测量的集总扰动由具有出色估计特性的特殊设计的高阶滑模观测器（HOSMO）估计和补偿。通过对估计的集中扰动进行补偿，提出了在存在多重流动扰动的情况下，基于反步高阶滑模的精确对接飞行控制器。大量的仿真结果证明了所提出的对接控制器的可行性和优越性。

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  • 来源
    《Mechanical systems and signal processing》 |2018年第15期|338-360|共23页
  • 作者

    Zikang Su; Honglun Wang; Na Li; Yue Yu; Jianfa Wu;

  • 作者单位

    School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China,SHENYUAN Honors College of Beihang University, 100191 Beijing, China,Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;

    School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China,Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;

    Unmanned Systems Research Institute, Beihang University, Beijing 100191, China;

    School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China,Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;

    School of Automation Science and Electrical Engineering, Beihang University, 100191 Beijing, China,SHENYUAN Honors College of Beihang University, 100191 Beijing, China,Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Autonomous aerial refueling; Docking control; Trajectory tracking; Back-stepping; Sliding mode control;

    机译：自主空中加油;对接控制;轨迹跟踪;后退;滑模控制;

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