基于非线性干扰观测器的高超声速飞行器离线预测控制方法
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摘要
针对高超声速飞行器存在参数不确定和外界强干扰的纵向非线性模型,结合非线性干扰观测器的干扰辨识能力和离线预测控制显式处理系统约束的优点,提出一种基于非线性干扰观测器的离线预测控制方法。首先针对标称情况下的纵向模型,引用多面体不变集理论,设计离线预测控制器;然后在存在干扰的情况下,采用非线性干扰观测器估计未知干扰,并设计合适的补偿增益,对离线预测控制器进行补偿,提高其鲁棒性。仿真结果表明,该控制器不仅能够有效抑制干扰,而且保证系统状态和控制输入在给定的约束范围内,实现速度和高度指令的精确跟踪。
Combining the identification capability of nonlinear disturbance observer and the advantages of offline model predictive control for handling the constraints,a nonlinear-disturbance-observer-based offline model predictive control strategy was developed for a hypersonic vehicle subject to the parameters uncertainties and external strong disturbances. Firstly,according to the theory of polyhedral invariant set,an offline model predictive controller was designed for the nominal longitudinal model. Then a nonlinear disturbance observer was introduced to estimate the unknown disturbances for the longitudinal model in the presence of strong disturbances,and the compensation gain matrix was properly designed to enhance the robustness of the offline model predictive controller. Simulation results demonstrate that the proposed controller not only obtains promising robustness and disturbance rejection performance but also realizes accurate tracking of velocity and altitude commands without the violation of the state and control constraints.
Combining the identification capability of nonlinear disturbance observer and the advantages of offline model predictive control for handling the constraints,a nonlinear-disturbance-observer-based offline model predictive control strategy was developed for a hypersonic vehicle subject to the parameters uncertainties and external strong disturbances. Firstly,according to the theory of polyhedral invariant set,an offline model predictive controller was designed for the nominal longitudinal model. Then a nonlinear disturbance observer was introduced to estimate the unknown disturbances for the longitudinal model in the presence of strong disturbances,and the compensation gain matrix was properly designed to enhance the robustness of the offline model predictive controller. Simulation results demonstrate that the proposed controller not only obtains promising robustness and disturbance rejection performance but also realizes accurate tracking of velocity and altitude commands without the violation of the state and control constraints.
引文
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[2]Wang Q,Stengel R F.Robust nonlinear control of a hypersonic aircraft[J].Journal of Guidance,Control,and Dynamics,2000,23(4):577-585.
[3]Marrison C I,Stengel R F.Design of robust control systems for a hypersonic aircraft[J].Journal of Guidance,Control,and Dynamics,1998,21(1):58-63.
[4]Sigthorsson D,Jankovsky P,Serrani A,et al.Robust linear output feedback control of an airbreathing hypersonic vehicle[J].Journal of Guidance,Control,and Dynamics,2008,31(4):1052-1066.
[5]Fiorentini L,Serrani A,Bolender M A,et al.Nonlinear robust adaptive control of flexible air-breathing hypersonic vehicles[J].Journal of Guidance,Control,and Dynamics,2009,32(2):402-417.
[6]Fiorentini L,Serrani A.Adaptive restricted trajectory tracking for a non-minimum phase hypersonic vehicle model[J].Automatica,2012,48(7):1248-1261.
[7]Xu H,Mirmirani M D,Ioannou P A.Adaptive sliding mode control design for a hypersonic flight vehicle[J].Journal of Guidance,Control,and Dynamics,2004,27(5):829-838.
[8]时建明,王洁,王琨,等.吸气式高超声速飞行器纵向运动反演控制器设计[J].西安交通大学学报,2013,47(3):102-107.
[9]卜祥伟,吴晓燕,白瑞阳,等.基于滑模微分器的吸气式高超声速飞行器鲁棒反演控制[J].固体火箭技术,2015,38(1):12-17.
[10]秦伟伟,郑志强,刘刚,等.高超声速飞行器的LPV鲁棒变增益控制[J].系统工程与电子技术,2011,33(6):1327-1331.
[11]Wang J,Zong Q,Tian B,et al.Flight control for hypersonic vehicle based on quasi-continuous integral high-order sliding mode[C]//24th Chinese Control and Decision Conference(CCDC),Taiyuan,China.IEEE,2012:2185-2190.
[12]Xu B,Gao D X,Wang S X.Adaptive neural control based on HGO for hypersonic flight vehicles[J].Science China Information Sciences,2011,54(3):511-520.
[13]Gao D X,Sun Z Q.Fuzzy tracking control design for hypersonic vehicles via TS model[J].Science China Information Sciences,2011,54(3):521-528.
[14]Yang J,Zhao Z,Li S,et al.Composite predictive flight control for airbreathing hypersonic vehicles[J].International Journal of Control,2014,87(9):1970-1984.
[15]Wan Z,Kothare M V.An efficient off-line formulation of robust model predictive control using linear matrix inequalities[J].Automatica,2003,39(5):837-846.
[16]Kothare M V,Balakrishnan V,Morari M.Robust constrained model predictive control using linear matrix inequalities[J].Automatica,1996,32(10):1361-1379.
[17]Bumroongsri P,Kheawhom S.An off-line robust MPC algorithm for uncertain polytopic discrete-time systems using polyhedral invariant sets[J].Journal of Process Control,2012,22(6):975-983.
[18]Chen W H,Ballance D J,Gawthrop P J,et al.A nonlinear disturbance observer for robotic manipulators[J].IEEE Transactions on Industrial Electronics,2000,47(4):932-938.
[19]Chen W H,Guo L.Analysis of disturbance observer based control for nonlinear systems under disturbances with bounded variation[C]//Proceedings of International Conference on Control,Bath,England,2004.
[20]Khalil H K,Grizzle J W.Nonlinear systems[M].New Jersey:Prentice hall,1996.