中文摘要：

研究垂直起降飞机在任意输入耦合作用下的轨迹跟踪控制问题．垂直起降飞机是具有3个自由度、2个控制输入的欠驱动系统．首先通过控制输入和坐标变换，使飞机的动力学方程变换成严格反馈形式；然后基于后推法的思想推导出保证系统渐近收敛于参考轨迹的时变反馈控制规律．该方法将系统分解为低阶子系统来处理，利用中间虚拟控制变量和部分Lyapunov函数筒化了控制器的设计．仿真结果表明所设计的控制器是有效的．

英文摘要：

The trajectory tracking control of a vertical take off and landing （VTOL） aircraft under any input coupling is considered. VTOL aircraft is an underactuated system with three degrees of freedom and two control inputs. By controlling input transformations, motion equations of the system are transformed into strict feedback form. A timevarying feedback control law is developed to force the aircraft system to asymptotically track a reference trajectory. The control development is based on the backstepping technique. The nonlinear system is broken down into low dimensional systems and the controller design is simplified by using virtual control imputs and partial Lyapunov functions. Simulation results show the effectiveness of the proposed control law.