中文摘要：

针对含模型不确定性的无人动力翼伞低空降高控制问题,提出了一种基于可变增益的自适应模糊反步法控制策略。首先,推导了稳定航速下翼伞尾沿偏转变增益反步控制律,通过设计增益参数简化了控制器形式。然后,利用模糊逻辑系统在线逼近系统的不确定性,并加入自适应鲁棒项对逼近误差进行消除,采用Lyapunov理论得出的模糊系统权值和逼近误差自适应律,保证了闭环系统的一致最终有界性和跟踪精度。最后,针对控制器增益的组合形式,采用单独的模糊系统对增益参数进行在线调节。仿真结果验证了所提方法的有效性。

英文摘要：

Aiming at the altitude reducting control problem for unmanned powered parafoil in low-altitude with model uncertainties, an adaptive fuzzy backstepping control strategy based on variable-gain is proposed. Firstly, the backstepping law of the parafoil trailing edge deflection based on variable-gain is derived under a sta- ble velocity and the controller form is simplified by designing gain parameters. Secondly, the fuzzy logic systems （FLS） are employed to approximate model uncertainties and the adaptive robust item is used to eliminate the ap- proximation errors. Both FLS strength and adaptive laws obtained through the Lyapunov stability theorem are adopted to guarantee the uniformly ultimately bounded of the closed-loop system. Finally, for the combination of the controller gain, the gain parameters are adjusted online by using the single fuzzy system. The simulation results verify the effectiveness of the proposed method.