串置翼垂直起降无人机过渡机动飞行控制

Considering the problems of a new-type tandem-wing thrust vectored unmanned aerial vehicle (UAV) during vertical take-off and landing (VTOL) flight and transition maneuver flight, which are strong non-linearity, strong coupling and control redundancy, the dynamic inversion control method is used to design the global control system without changing control strategies for different flight modes. Based on this, a two-stage progressive control allocation strategy is proposed. The sequential quadratic programming and chain increment methods are combined to optimize the allocation of the control variables in tracking loop and attitude loop. At the same time, according to the task requirements and flight status, the objective function weights are online real-time updated based on off-line database for the allocation of direct force control. Relaxation constraint strategy is used to locally relax constraints of nonlinear optimization problem and increase the speed of optimization solution. Simulation results show that the controller can effectively track high maneuvering trajectory.