基于非线性模型预测的翼伞系统控制研究

翼伞系统在飞行过程中，受外界不确定因素的影响呈现出非线性特性和耦合性．应用非线性模型预测控制理论对翼伞系统飞行控制进行了研究，提出基于非线性模型预测控制的翼伞系统控制律设计方法，并推导出控制律解析式．仿真研究表明，合理地选择泰勒展开级数和预测周期，通过泰勒级数展开并截尾后的翼伞非线性控制系统可以表现出良好的控制性能．

Research on Parafoil Control System Based on Nonlinear Model Predictive Control

Parafoil systems are subject to the unknown disturbances and uncertainties in the flight, and present nonlinear and coupling characteristics. The research of parafoil flight control system is carried out by Nonlinear Model Predictive Control （NMPC）. The design method of parafoil flight control system based on nonlinear model predictive control is put forward,and analytical solutions are drawn from it. It is shown that the number of Taylor series expansion terms can be used for parafoil flight control system through simulation. It is also shown that flight control system based on NMPC has fine control performance by optimizing the number of Taylor series expansion and prediction horizon.