输入有约束时的飞翼布局无人机姿态控制
|
摘要
针对大展弦比飞翼布局无人机的刚体运动与弹性运动耦合动力学模型,研究了输入有约束时的无人机姿态控制问题,提出了一种采用扩张状态观测器的反步滑模控制方法.首先,采用扩张状态观测器实时估计气动弹性模态和外界未知干扰的影响,并引入跟踪微分器避免了控制律中项数膨胀问题.然后,针对飞翼布局无人机多操纵面的配置和输入约束,给出了基于LMI的在线舵面分配算法.最后,针对指令滤波和输入约束情况下控制指令的滞后问题,设计了辅助补偿器对控制指令进行补偿.根据Lyapunov稳定性理论证明了该控制方法能够保证姿态跟踪误差收敛至有界,仿真表明存在复合干扰和输入约束时该方法具有良好的姿态跟踪性能.
Considering the coupling between the rigid motion and the elastic motion in the dynamic model of an unmanned aerial vehicle with high-aspect-ratio fly wing configuration,we investigate its attitude control under input constraints,and propose a backstepping sliding-mode control method by employing the extended state observer.The extended state observer estimates effects of the aeroelastic mode and unknown disturbance in realtime.A tracking differentiator is introduced to alleviate the term explosion in the control law.According to the allocation of multiple control surfaces in the aerial vehicle with high-aspect-ratio fly wing configuration and the input constraints,we put forward an online allocation algorithm for the allocation of control surfaces,based on the linear-matrix-inequality(LMI).An auxiliary compensator is applied to provide compensation for the control command with time-delay due to the filter and input constraints.Applying Lyapunov stability theorem,we prove that the attitude tracking error will converge to a bounded value.Simulation results show that good performances in attitude tracking control are achieved when disturbances and constraints exist.
Considering the coupling between the rigid motion and the elastic motion in the dynamic model of an unmanned aerial vehicle with high-aspect-ratio fly wing configuration,we investigate its attitude control under input constraints,and propose a backstepping sliding-mode control method by employing the extended state observer.The extended state observer estimates effects of the aeroelastic mode and unknown disturbance in realtime.A tracking differentiator is introduced to alleviate the term explosion in the control law.According to the allocation of multiple control surfaces in the aerial vehicle with high-aspect-ratio fly wing configuration and the input constraints,we put forward an online allocation algorithm for the allocation of control surfaces,based on the linear-matrix-inequality(LMI).An auxiliary compensator is applied to provide compensation for the control command with time-delay due to the filter and input constraints.Applying Lyapunov stability theorem,we prove that the attitude tracking error will converge to a bounded value.Simulation results show that good performances in attitude tracking control are achieved when disturbances and constraints exist.
引文
[1]HARKEGARD O,GLAD T.Vector backstepping design for flight control[C]//Proceedings of the AIAA Guidance,Navigation,and Control Conference.South Carolina:AIAA,2007:AIAA-2007-6421.
[2]THUNBERG J,ROBINSON J.Block backstepping,NDI and related cascade designs for efficient development of nonlinear flight control laws[C]//Proceedings of the AIAA Guidance,Navigation and Control Conference.Hawaii:AIAA,2008:AIAA-2008-6960.
[3]FARRELL J A,POLYCARPOU M,SHARMA M,et al.Command filtered backstepping[J].IEEE Transactions on Automatic Control,2009,54(6):1391-1395.
[4]WANG D,HUANG J.Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strictfeedback form[J].IEEE Transactions on Neural Networks,2005,16(1):195-202.
[5]LEE T,KIM Y.Nonlinear adaptive flight control using backstepping and neural networks controller[J].Journal of Guidance,Control,and Dynamics,2001,4(24):675-682.
[6]FARRELL J,SHARMA M,POLYCARPOU M.Backstepping-based flight control with adaptive function approximation[J].Journal of Guidance,Control,and Dynamics,2005,28(6):1089-1102.
[7]王首斌,王新民,谢蓉,等.基于干扰观测器的高超音速飞行器鲁棒反步控制[J].控制与决策,2013,28(10):1507-1511.(WANG Shoubin,WANG Xinmin,XIE Rong,et al.Robust backstepping control based on disturbance observer for hypersonic vehicle[J].Control and Decision,2013,28(10):1507-1511.)
[8]韩京清.自抗扰控制技术[M].北京:国防工业出版社,2008.(HAN Jingqing.Active Disturbance Rejection Control Technique[M].Beijing:National Defense Industry Press,2008.)
[9]HUANG Y,XUE W C.Active disturbance rejection control:methodology and theoretical analysis[J].ISA Transactions,2014,53(4):963-976.
[10]YAO Y,JIAO Z,MA D.Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping[J].IEEE Transactions on Industrial Electronics,2014,61(11):6285-6293.
[11]XUE W C,HUANG Y On performance analysis of ADRC for a class of MIMO lower-triangular nonlinear uncertain systems[J].ISA Transactions,2014,53(4):955-962.
[12]GUO B Z,ZHAO Z L.On the convergence of an extended state observer for nonlinear systems with uncertainty[J].Systems&Control Letters,2011(60):420-430.
[13]QING Z,CHEN Z Z,GAO Z Q.A practical approach to disturbance decoupling control[J].Control Engineering Practice,2009,17(9):1016-1025.
[14]GUO B Z,ZHAO Z L.On convergence of the nonlinear active disturbance rejection control for MIMO systems[J].SIAM Journal on Control and Optimization,2013,51(2):1727-1757.
[15]张强,吴庆宪,姜长生,等.考虑执行器动态和输入受限的近空间飞行器鲁棒可重构跟踪控制[J].控制理论与应用,2012,29(10):1263-1271.(ZHANG Qiang,WU Qingxian,JIANG Changsheng,et al.Robust reconfigurable tracking control of near space vehicle with actuator dynamic and input constants[J].Control Theory&Applications,2012,29(10):1263-1271.)
[16]周洪波,裴海龙,贺跃帮,等.状态受限的小型无人直升机轨迹跟踪控制[J].控制理论与应用.2012,29(6):778-784.(ZHOU Hongbo,PEI Hailong,HE Yuebang,et al.Trajectorytracking control for small unmanned helicopter with state constraints[J].Control Theory&Applications,2012,29(6):778-784.)
[17]刘尚民,孙健,刘朝君.大展弦比飞翼布局模型验证机飞行控制技术研究[J].飞行力学,2013,31(6):558-565.(LIU Shangmin,SUN Jian,LIU Zhaojun.Research on flight control technology of the high-aspect-ratio flying wing model aircraft[J].Flight Dynamics,2013,31(6):558-565.)
[18]高洁,王立新,周堃.大展弦比飞翼构型飞机阵风载荷减缓控制[J].北京航空航天大学学报,2008,34(9):1076-1079.(GAO Jie,WANG Lixin,ZHOU Kun.Gust load alleviation control of aircraft with large ratio flying wing configuration[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(9):1076-1079.)
[19]王睿.飞翼式高空长航时无人机飞行控制与仿真研究[D].西安:西北工业大学,2008.(WANG Rui.Research on flight control and simulation for flyingwing high altitude long endurence UAV[D].Xi'an:Northwestern Polytechnical University,2008.)
[20]WASZAK M R,SCHMIDTF D K.Flight dynamics of aeroelastic vehicles[J].Journal of Aircraft,1988,25(6):563-571.
[21]SWAROOP D,HEDRICK J K,YIP P P,et al.Dynamic surface control for a class of nonlinear systems[J].IEEE Transactions On Automatic Control,2000,45(10):1893-1899.
[22]CHEN M,SHUZHI S G,REN B B.Adaptive tracking control of uncertain mimo nonlinear systems with input constraints[J].Automatica,2011,47(3):452-465.
[23]TARBOURIECH S,TURNER M.Anti-windup design:an overview of some recent advances and open problems[J].IET Control Theory&Applications,2009,3(1):1-19.
[24]KISHORE W C,SEN S,RAY G.Dynamic control allocation for tracking time-varying control demand[J].Journal of Guidance,Control,and Dynamics.2008,31(4):1150-1157.
[2]THUNBERG J,ROBINSON J.Block backstepping,NDI and related cascade designs for efficient development of nonlinear flight control laws[C]//Proceedings of the AIAA Guidance,Navigation and Control Conference.Hawaii:AIAA,2008:AIAA-2008-6960.
[3]FARRELL J A,POLYCARPOU M,SHARMA M,et al.Command filtered backstepping[J].IEEE Transactions on Automatic Control,2009,54(6):1391-1395.
[4]WANG D,HUANG J.Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strictfeedback form[J].IEEE Transactions on Neural Networks,2005,16(1):195-202.
[5]LEE T,KIM Y.Nonlinear adaptive flight control using backstepping and neural networks controller[J].Journal of Guidance,Control,and Dynamics,2001,4(24):675-682.
[6]FARRELL J,SHARMA M,POLYCARPOU M.Backstepping-based flight control with adaptive function approximation[J].Journal of Guidance,Control,and Dynamics,2005,28(6):1089-1102.
[7]王首斌,王新民,谢蓉,等.基于干扰观测器的高超音速飞行器鲁棒反步控制[J].控制与决策,2013,28(10):1507-1511.(WANG Shoubin,WANG Xinmin,XIE Rong,et al.Robust backstepping control based on disturbance observer for hypersonic vehicle[J].Control and Decision,2013,28(10):1507-1511.)
[8]韩京清.自抗扰控制技术[M].北京:国防工业出版社,2008.(HAN Jingqing.Active Disturbance Rejection Control Technique[M].Beijing:National Defense Industry Press,2008.)
[9]HUANG Y,XUE W C.Active disturbance rejection control:methodology and theoretical analysis[J].ISA Transactions,2014,53(4):963-976.
[10]YAO Y,JIAO Z,MA D.Extended-state-observer-based output feedback nonlinear robust control of hydraulic systems with backstepping[J].IEEE Transactions on Industrial Electronics,2014,61(11):6285-6293.
[11]XUE W C,HUANG Y On performance analysis of ADRC for a class of MIMO lower-triangular nonlinear uncertain systems[J].ISA Transactions,2014,53(4):955-962.
[12]GUO B Z,ZHAO Z L.On the convergence of an extended state observer for nonlinear systems with uncertainty[J].Systems&Control Letters,2011(60):420-430.
[13]QING Z,CHEN Z Z,GAO Z Q.A practical approach to disturbance decoupling control[J].Control Engineering Practice,2009,17(9):1016-1025.
[14]GUO B Z,ZHAO Z L.On convergence of the nonlinear active disturbance rejection control for MIMO systems[J].SIAM Journal on Control and Optimization,2013,51(2):1727-1757.
[15]张强,吴庆宪,姜长生,等.考虑执行器动态和输入受限的近空间飞行器鲁棒可重构跟踪控制[J].控制理论与应用,2012,29(10):1263-1271.(ZHANG Qiang,WU Qingxian,JIANG Changsheng,et al.Robust reconfigurable tracking control of near space vehicle with actuator dynamic and input constants[J].Control Theory&Applications,2012,29(10):1263-1271.)
[16]周洪波,裴海龙,贺跃帮,等.状态受限的小型无人直升机轨迹跟踪控制[J].控制理论与应用.2012,29(6):778-784.(ZHOU Hongbo,PEI Hailong,HE Yuebang,et al.Trajectorytracking control for small unmanned helicopter with state constraints[J].Control Theory&Applications,2012,29(6):778-784.)
[17]刘尚民,孙健,刘朝君.大展弦比飞翼布局模型验证机飞行控制技术研究[J].飞行力学,2013,31(6):558-565.(LIU Shangmin,SUN Jian,LIU Zhaojun.Research on flight control technology of the high-aspect-ratio flying wing model aircraft[J].Flight Dynamics,2013,31(6):558-565.)
[18]高洁,王立新,周堃.大展弦比飞翼构型飞机阵风载荷减缓控制[J].北京航空航天大学学报,2008,34(9):1076-1079.(GAO Jie,WANG Lixin,ZHOU Kun.Gust load alleviation control of aircraft with large ratio flying wing configuration[J].Journal of Beijing University of Aeronautics and Astronautics,2008,34(9):1076-1079.)
[19]王睿.飞翼式高空长航时无人机飞行控制与仿真研究[D].西安:西北工业大学,2008.(WANG Rui.Research on flight control and simulation for flyingwing high altitude long endurence UAV[D].Xi'an:Northwestern Polytechnical University,2008.)
[20]WASZAK M R,SCHMIDTF D K.Flight dynamics of aeroelastic vehicles[J].Journal of Aircraft,1988,25(6):563-571.
[21]SWAROOP D,HEDRICK J K,YIP P P,et al.Dynamic surface control for a class of nonlinear systems[J].IEEE Transactions On Automatic Control,2000,45(10):1893-1899.
[22]CHEN M,SHUZHI S G,REN B B.Adaptive tracking control of uncertain mimo nonlinear systems with input constraints[J].Automatica,2011,47(3):452-465.
[23]TARBOURIECH S,TURNER M.Anti-windup design:an overview of some recent advances and open problems[J].IET Control Theory&Applications,2009,3(1):1-19.
[24]KISHORE W C,SEN S,RAY G.Dynamic control allocation for tracking time-varying control demand[J].Journal of Guidance,Control,and Dynamics.2008,31(4):1150-1157.