Aiming at the problem of trajectory tracking in terrain following flight,a trajectory tracking model prediction controller is designed,and the adaptive scheme of time horizon parameter switching in the model prediction control is discussed.Firstly,based on the characteristics of the controlled object,a model predictive tracking controller is designed to track the reference trajectory stably,and the stability of the controller is analyzed.Then,the trajectory tracking method and comprehensive error evaluation strategy are designed by giving full play to the predictive ability of model predictive control.Meanwhile,based on the analysis of the tracking requirements of different trajectory segments,the optimization scheme of the time horizon parameters in the adaptive adjustment model predictive control is designed.Simulation results show that the adaptive scheme has higher tracking accuracy,less flight turbulence,and better stability than the fixed time horizon scheme,and the preset evaluation index function can effectively evaluate the tracking performance.
关键词
地形跟随/模型预测控制/稳定性分析/自适应时域/误差评价
Key words
terrian following/model predictive control/stability analysis/adaptive time horizon/error evaluation
维普
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