控制理论与应用2026，Vol.43Issue(5)：961-978,18.DOI:10.7641/CTA.2025.40490
非仿射模型驱动的无尾飞行器轨迹跟踪控制
Trajectory tracking control for tailless aerial vehicles driven by non-affine model
摘要
Abstract
Tailless aerial vehicle(TAV)is an important asset in future penetrating air combat.Currently,research on TAVs is still primarily focused on aerodynamic design and attitude control,with trajectory tracking control receiving less attention.This paper investigates the trajectory tracking control problem for TAVs with model parameter and structural un-certainties.Due to the complexity of TAV aerodynamic characteristics,the trajectory angular differential equations exhibit strong non-affine properties,and traditional pseudo-affine transformation methods may lead to controller failure.To address this,an adaptive trajectory tracking controller is designed from three aspects:model construction,model transformation,and controller design.Firstly,non-affine and affine models are established for the translational and rotational subsystems,respectively,for controller design.Then,by analyzing the advantages and disadvantages of Taylor expansion and inequality constraints in handling non-affine functions,a novel pseudo-affine transformation method is proposed.This method retains the model's non-affine characteristics while avoiding control law failure.A sliding mode controller is designed based on the non-affine model for the translational subsystem.Additionally,a nonlinear dynamic inversion controller is designed using the backstepping method for the rotational subsystem.Finally,a composite control allocation method considering vectored thrust is developed under the constraints of actuator amplitude and bandwidth limitations.The designed controller not only achieves stable trajectory tracking control,but also demonstrates strong robustness.Simulation results verify the effectiveness of the proposed controller.关键词
无尾飞行器/轨迹跟踪/非仿射模型/滑模控制/非线性动态逆Key words
tailless aircraft/trajectory tracking control/non-affine model/sliding model control/dynamic inversion引用本文复制引用
王应洋,张鹏,郭庆,丛继平,苏茂宇..非仿射模型驱动的无尾飞行器轨迹跟踪控制[J].控制理论与应用,2026,43(5):961-978,18.基金项目
国家自然科学基金项目(62103439),无人飞行器技术全国重点实验室,陕西省高校青年创新团队资助.Supported by the National Natural Science Foundation of China(62103439),the National Key Laboratory of Unmanned Aerial Vehicle Technology of China and the Youth Innovation Team of Shaanxi University. （62103439）
