航空学报2026，Vol.47Issue(9)：285-304,20.DOI:10.7527/S1000-6893.2025.32472
多类多型约束下无人直升机迅猛机动安全控制
Safety flight control for aggressive maneuvering of unmanned autonomous helicopters under multi-class and multi-type constraints
摘要
Abstract
To address the Safety Flight Control(SFC)problem of aggressive maneuvering for Unmanned Autono-mous Helicopters(UAH)under multi-constraint coupling environments,this study proposes a coordinated SFC strat-egy for multiple-type constraints under interval-type and norm-type dual-mode constraints,building upon the advan-tages of interval constraint processing.By designing a class of saturation-like smooth functions,the proposed method achieves smooth transition of commands at interval constraint boundaries,while constructing quadratic boundaries in norm space to fundamentally expand constraint processing dimensions and effectively alleviate the negative impacts of control saturation on closed-loop stability.Furthermore,a multi-constraint coordination mechanism based on dynamic priority scheduling is established to eliminate the influence of command limitation on closed-loop stability.On this ba-sis,a hierarchical control architecture is constructed to realize decoupled design of position loop and attitude loop.Us-ing such methods as input-to-state stability,closed-loop invariant sets,and Lyapunov functions,the controller param-eter design is systematically summarized along with the stability,safety,and steady-state tracking performance of UAH closed-loop systems.Finally,the effectiveness of the proposed strategy is verified through a full-scale nonlinear model of a medium-sized UAH.关键词
无人直升机/安全飞行控制/机动飞行/状态约束/输入饱和Key words
unmanned autonomous helicopters/safety flight control/maneuvering flight/state constraints/input saturation分类
航空航天引用本文复制引用
雍可南,陈谋..多类多型约束下无人直升机迅猛机动安全控制[J].航空学报,2026,47(9):285-304,20.基金项目
国家自然科学基金(62473194,62103188,62188101) （62473194,62103188,62188101）
航空科学基金(2022Z034052002) National Nature Science Foundation of China(62473194,62103188,62188101) （2022Z034052002）
Aeronautical Science Foundation(2022Z034052002) （2022Z034052002）
