| Citation: | FAN Yu, YAN Liang, ZHU Wuxuan, et al. Trajectory tracking method based on predictive control in virtual domain[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(9): 1813-1823. doi: 10.13700/j.bh.1001-5965.2016.0751(in Chinese)
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A trajectory tracking method based on predictive control in the virtual domain is proposed for the algorithm of online real-time trajectory planning. The method uses polynomial approximate system model and introduces virtual path and inverse dynamics to convert time domain into virtual domain. Its advantage is that the decoupling effect is good and it takes less compute time than the control method of approximate model in the time domain. Through inverse dynamics, the import configuration of nonlinear programming ensures the continuous controls, which cannot be guaranteed by the nonlinear predictive control of traditional soft constraint method. In the background of intercepting ballistic missiles, simulation verification is carried out under the condition of initial minor disturbances and terminal condition change. The simulation results demonstrate that, compared with nonlinear feedback tracking method, the curve is smooth, the miss distance, pitch angle error and yaw angle error are small, and instantaneity can meet the control requirements.
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