Constrained Control Allocation for Overactuated Aircraft Using a Neurodynamic Model
针对存在系统不确定性和外部扰动的过驱动飞行器，设计了一种基于神经动力学模型的受限控制分配方案，结合自适应神经姿态控制器，将控制分配转化为凸非线性规划问题并用递归神经网络求解，仿真验证了有效性。
In this paper, a constrained control allocation scheme is designed based on the neurodynamic model for an overactuated aircraft with system uncertainties and unknown time-varying external disturbances. To generate the control command signals, an adaptive neural attitude controller is developed, taking into consideration the nonsymmetric input saturation constraint. This control scheme can guarantee semi-global uniform ultimate boundedness for all signals in the closed-loop system. The control command signals are sent to the actuators of the overactuated aircraft via the constrained control allocation scheme. Based on the developed adaptive neural attitude control scheme, the control allocation is designed with the position and rate constraints of actuators taken into account. We pose this constrained control allocation as a convex nonlinear programming problem and use a recurrent neural network as its solver. Simulation study on a near space vehicle is conducted to illustrate the effectiveness of the developed adaptive neural attitude control scheme and the constrained control allocation scheme.