Switching Control Design And Calculation Of Domain Of Attraction For Aircraft In Perching Maneuver

The study on perching maneuvers of the aircraft is inspired by the flying process of birds in nature.The aircraft make use of the high drag to decelerate rapidly and land precisely which is produced in the flight at high angle-of-attack without gliding orbit or complex ground landing device.The aircraft go through post-stall landing maneuvers,which is characterized as complex aerodynamic and having great effect on flight.In this paper,the control law of tracking the prescribed trajectory and the region of attraction for the fixed-wing unmanned aircraft were investigated on the longitudinal motion.First,the piecewise-linear system was established to approximate the original nonlinear system in the perching process of the aircraft by linearing the nonlinear dynamic system along the referred trajectory.On this basis,the switching control law of tracking was designed which combined the optimal control theory and the global stability analysis method of switching system.The resulting tracking controller is certified valid by simulating fixed-wing aircraft in perching process.Then,in order to estimate the domain of attraction and ensure that the aircraft can fall in the target area,the Sum-of-Squares optimization was presented.The simulation result shows that all the sampling trajectory fall within the attraction domain,which certifies that the domain of attraction is correct.Finally,In order to enhance the robustness of the closed-loop control system for perching maneuver,the attraction regions of uncertain systems and dynamic uncertain systems are calculated respectively.The result shows that all the sampling trajectory fall within the attraction domain by simulating the uncertain perching system,which certifies that the domain of attraction is correct.