论文标题
在纵向飞行动力学的输入输出线性化中规避不稳定的零动力学
Circumventing Unstable Zero Dynamics in Input-Output Linearization of Longitudinal Flight Dynamics
论文作者
论文摘要
在本文中，我们考虑了纵向飞行动力学的输入输出线性化问题。在纵向飞行动力学中，输入通常是推力和电梯偏转的，而输出是速度和飞行路径角。可以设计基于输入的线性化控制器来渲染多输入的多输出系统线性。但是，最终的零动力学结果是不稳定的。在这项工作中，我们通过考虑额外的输出来从闭环动力学中删除零动力学。尽管额外的输出使系统高，这通常意味着无法线性化输入到输出动力学，但我们表明，在纵向飞行动力学的情况下，由于非线性项的特殊几何特性，可以线性化。
In this paper, we consider the problem of input-output linearization of the longitudinal flight dynamics. In longitudinal flight dynamics, inputs are typically thrust and elevator deflection whereas the outputs are the velocity and the flight path angle. An input-output linearization-based controller can be designed to render the multi-input, multi-output system linear; however, the resulting zero dynamics turns out to be unstable. In this work, we remove the zero dynamics from the closed-loop dynamics by considering an additional output. Although the additional output makes the system tall, which, in general, means that the input-to-output dynamics can not be linearized, we show that in the case of longitudinal flight dynamics, linearization is possible due to special geometric properties of the nonlinear terms.
