科研之友
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摘要
Control system design for a morphing wing structure, which is proposed by NextGen Aeronautics, Inc., is investigated in this paper. The dynamic model of the morphing wing, developed based on the Euler-Lagrange equation, is nonlinear, multivariable coupled, over-actuated and uncertain. The allocation-decoupling controller is designed based on control efficiency and decoupling matrices. For each decoupled subsystem, nonlinear and linear active disturbance rejection control (ADRC) systems are designed and compared. The time-optimal property and the convergence of nonlinear ADRC are analyzed theoretically based on the isochronic region and Lyapunov theories. The simulation results of the developed control systems show satisfactory performances of decoupling and extreme tolerance of internal uncertainty and external disturbance. The comparison of nonlinear and linear ADRC systems demonstrate that the nonlinear system can provide a little better performance while the linear system can greatly simplify the design procedure. The results indicate that, the methods of control system design proposed in this paper are practical and effective for motion control of complex uncertain dynamical systems.
