Design on decoupling control law of the refueling boom for aerial boom refueling

Kinematics dynamics modeling of the refueling boom system is established, and then decoupling control law is designed for the nonlinear characteristic of the kinetics model. By adding compensation control law and double feedback control law to the kinetics model, the boom system can be divided into two typical independent linear second order subsystems. In the design of double feedback control law, a new method of the nonlinear decoupling control is brought forward. The results show that by adding decoupling controller, the control effect is satisfied.