基于自适应的变形式陆空机器人转域过程飞行控制

The flight control method for the air-land transfer in a new metamorphic air-land amphibious vehicles is studied, laying the foundation for the continuous maneuver from air to land for air-land amphibious vehicles. Structural model and dynamic model, which are equivalent to the metamorphic air-land amphibious vehicles, are built. To solve the variations of the moment of inertia and the load in the area transfer and the complex environment, Model Reference Adaptive Control System (MRACS) is applied to compensate the uncertainty of the model based on Linear Quadratic Regulaton (LQR) attitude controller and PID height controller. The extreme value of air-land transfer deformation angle is obtained and the effectiveness of this control strategy is verified by using the Adams/MATLAB co-simulation. The transfer flight prototype is developed and experiments are carried out to test its control method and the extreme value.