为了进一步减小传统e修正自适应律下的系统误差和控制参数误差界限,分别针对传递函数相对阶等于或大于1系统设计了鲁棒模型参考自适应控制器,利用李雅普诺夫方法严格证明了e-sigma修正自适应律下输出信号和控制参数的有界稳定,并给出修正自适应律增益的选择方法。最后,通过接入航点绕飞制导律进行了容损试飞验证。飞行试验表明:在允许的舵偏范围内,能够有效的对单侧机翼大面积损伤飞机进行快速稳定、性能恢复并使之继续航点绕飞。算法有效性和成熟度得以验证。

In order to minish the error boundaries of system output and control parameter governed by e-modification law, the robust model reference adaptive controller (MRAC) for linear system's relative degree equale to or more than one are designed respectively. The designing process of Lyapunov proves that the output signals and control parameters of the proposed controller updated by e-sigma-modification law are uniformly bounded. The policy of choosing adaptive gains is also proposed. Finally, the damage tolerant flight test was conducted through cascading to guidance law for enroute flight. The flight test shows that the controller could not only quickly stabilize the aircraft with one-sided wing damage largely but also continue to recover the performance and track waypoints in allowable deflection of control surfaces. The effectiveness and practicability of the algorithm are verified.