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Method for controlling backstepping neural network for tracking three-dimensional flight path of airship

A neural network control and track tracking technology, which is applied in three-dimensional position/channel control, adaptive control, general control system, etc. The stability of the closed-loop control system is difficult to guarantee, so as to improve the control accuracy and system performance and ensure the stability.

Active Publication Date: 2015-07-22
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, the above track control methods have not effectively solved the following two types of problems: one is that the dynamic model of the airship is uncertain, there are modeling errors and unmodeled dynamics; the other is that the airship track control system is a complex multivariable nonlinear system, It is difficult to guarantee the stability of the closed-loop control system within the flight envelope

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  • Method for controlling backstepping neural network for tracking three-dimensional flight path of airship
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  • Method for controlling backstepping neural network for tracking three-dimensional flight path of airship

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[0158] The present invention "a backstepping neural network control method for three-dimensional track tracking of an airship", its specific steps are as follows:

[0159] Step 1: Given command track

[0160] The given command track is:

[0161] n d =[x d ,y d ,z d ,θ d ,ψ d ,φ d ] T =[(3t)m,(0.93t)m,10m,0rad,0.3rad,0rad] T , x d 、y d ,z d , θ d 、ψ d and φ d They are command x coordinate, command y coordinate, command z coordinate, command pitch angle, command yaw angle and command roll angle;

[0162] Step 2: Calculation of track control error amount

[0163] Calculate the amount of track control error between the commanded track and the actual track:

[0164] e=η d -η=[x d -x,y d -y,z d -z,θ d -θ,ψ d -ψ,φ d -φ] T ,

[0165]where, η=[x,y,z,θ,ψ,φ] T is the actual track, x, y, z, θ, ψ, φ are the x coordinate, y coordinate, z coordinate, pitch angle, yaw angle and roll angle of the actual track respectively, which are continuously changing values.

[...

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Abstract

The invention relates to a method for controlling a backstepping neural network for tracking a three-dimensional flight path of an airship. In order to control tracking of the flight path of the airship, a nonlinear kinetic model of the airship is established; the nonlinear kinetic model of the airship serves as a controlled object and is divided into two subsystems, a Lyapunov function and a middle virtual controlled quantity are designed for each subsystem by using a backstepping method, proper virtual feedback is determined, and the previous state of a system is gradually stable until the whole system is gradually stable in an inverse deducing mode; and in order to solve the problem that the kinetic model of the airship is uncertain, an unknown kinetic model of the airship is estimated accurately by a neural network approximator, and the control precision and the system performance are improved. A closed-loop system controlled by the method can track an optional parameterized command flight path precisely and has high stability, adaptability, robustness and dynamic performance, and an effective scheme is provided for an airship flight path control project.

Description

technical field [0001] The invention relates to a flight control method in the aerospace field, which provides a backstepping neural network control method for airship track tracking, and belongs to the technical field of automatic control. Background technique [0002] An airship refers to an aircraft that relies on a gas that is lighter than air (such as helium, hydrogen, etc.) to provide static buoyancy, and relies on an automatic flight control system to achieve fixed-point residence and low-speed maneuvering. With the advantages of high cost ratio and fixed-point residence, it is widely used in reconnaissance and surveillance, earth observation, environmental monitoring, emergency relief, scientific detection and other fields. It has important application value and broad application prospects, and has become a research hotspot in the aviation field. [0003] Track tracking means that the airship starts from a given initial state and tracks the command track under a give...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
Inventor 杨跃能闫野朱正龙刘二江徐博婷
Owner NAT UNIV OF DEFENSE TECH
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