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摘要:This paper investigates the problem of height-varying constraints in predictive control.Parafoil will encounter tall objects in flight,such as mountain peaks and tall buildings.Since the outline of these objects generally varies with height,the flight trajectory tracking control of parafoil needs to handle different constraints for different heights in flight.With the model predictive control as the foundation,this paper proposes a factor method based on spatial object model,then the height-varying constraints at different heights can be converted into fixed constraints.While the traditional method introduces the slack variables to convert obstacle constraints varying with height into hard constraints,the predictive control paradigm will lead to larger optimization space and higher security than the traditional method.The proposed method can also provide the theoretical support to achieve the optimal trajectory tracking control of parafoil.Simulation results show the effectiveness of this approach.
会议名称:

第35届中国控制会议

会议时间:

2016-07-27

会议地点:

中国四川成都

  • 专辑:

    工程科技Ⅱ辑

  • 专题:

    航空航天科学与工程

  • 分类号:

    V249

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