Switching Control Blending Methodology with Single Parameter Dependent and its Application to Tiltrotor

Abstract

Because direct switching between controllers will generate abrupt change of control signal causing severe actuators workload, a switching control blending methodology is presented in this paper. By the blending of weighted multi-controllers output signals in which the weight value depends on a single switching parameter, the control signals can be switched smoothly and the closed-loop dynamic acts continuously. In this method, the design of multi-controllers can use any available methods while the closed-loop switching stability is insured by rational division of closed-loop state-space along the switching parameter. The closed-loop switching stability under control blending is presented, and a state-space division algorithm is developed. With the application to the tiltrotor, the simulation results show that the presented control methodology can provide all modes control ability and make control signals switched smoothly.