Modeling And Control Of Perching Maneuvers For Aircraft

Perching is a way of landing for birds in nature.By performing perching maneuvers,birds can rapidly change from a level flight to a large angle of attack maneuver,and then lightly fall into the branches,cliffs or other places above the ground.In a bionic perching maneuver,aircraft can imitate birds' perching maneuvers and accomplish accurate landing without the need of runway.In this paper,the dynamics modeling and flight control design for the longitudinal motion of micro aerial vehicle perching maneuvers are studied.Firstly,the tensor product model of perching maneuvers for aircraft is established.The longitudinal nonlinear dynamic model of the aircraft is transformed into a linear varying parameter model based on trajectory linearization.Based on the linear varying parameter model,the tensor product model is established by tensor product model transformation method,which provides the basis for the subsequent control law design.The accuracy of the tensor product model is verified by comparing the tensor product model with the original nonlinear model.Then,the flight control law of trajectory tracking is designed of perching maneuvers for aircraft.The constructed tensor model is described as a T-S fuzzy model in order to apply the control design method based on T-S fuzzy system theory.The T-S fuzzy flight controller is designed based on the principle of parallel distributed compensation,the stability of closed system is proved,and the validity of the controller is verified by simulation.In order to achieve more accurate perching position,the position tracking control law is designed on the basis of inner ring T-S fuzzy control law.Finally,the methods of reducing conservation of the flight control of perching maneuvers is investigated.On the conservation of the model: the tensor product interpolation modeling technology is utilized to reduce the conservation of the T-S fuzzy model;On the controller conservation: the basic stability conditions and relaxed stability conditions based on common Lyapunov function are designed,and these stability conditions are analyzed according to the maximum delay rate and the maximum convergence rate;The fuzzy Lyapunov function is used to construct the stability conditions with lower conservation.A non-parallel distributed compensation controller is designed and the effectiveness of the controller is verified by simulation.