基于自抗扰的三自由度推力矢量飞行器控制分配方法与理论

Thrust-vectored aircraft can use multiple control inputs, such as thrust and aero rudders, to change the gesture of the aircraft, so they have extreme maneuverability and are adaptive to incumbent flight environments. Furthermore, thrust-vectored aircraft have a non-affine and nonlinear control model that has complex uncertainty, which makes the control of the aircraft quite challenging. This paper focuses on the angular tracking control of three-degree-of-freedom (3-DOF) thrust-vectored aircraft. First, active disturbance rejection control is used to compensate for disturbances during flight. Second, we constrain nonlinear problems to manage control allocation by prioritizing the aero rudders and minimizing error. Next, some conditions are imposed to determine whether these problems have explicit formulas. If these conditions are not met, the optimal solution lies on the constraint boundary and can be solved in finite steps. Finally, the closed-loop system’s tracking error and estimation error are quantitatively analyzed based on the results of control allocation. In typical simulation environments, the algorithm is effective and robust, and it achieves the angular tracking goal with extreme nonlinearity and large-scale uncertainty.