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
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摘要
针对多变量、不稳定的近空间飞行器姿态系统,在系统存在参数不确定和外部干扰的情况下,并考虑执行器动态和输入受限,提出一种鲁棒可重构跟踪控制策略.首先,利用二阶滑模干扰观测器分别重构姿态、角速率回路的复合干扰;其次,采用鲁棒二阶滑模积分滤波器的反推(backstepping)方法避免了控制器设计中微分项膨胀问题,利用鲁棒项抵消重构误差对系统的影响,以实现姿态控制器设计.然后,在考虑执行器动态、输入受限及舵面卡死故障下,给出一种线性矩阵不等式的在线优化舵面分配算法,以实现飞行器的姿态角渐近跟踪期望的制导指令.最后,仿真结果表明所提出的方法具有良好的跟踪控制性能.
We propose a robust reconfigurable tracking control scheme for the multi-variable and unstable attitude system of the near-space vehicle(NSV) with parameter uncertainties,external disturbances,dynamic actuator and input constraints.A second-order sliding-mode disturbance observer is used to reconstruct compound disturbances in the loops of attitude and angular rate respectively.The backstepping method with integral filter is used to avoid the growing of differential orders in controller design.The robust terms offset the impact of the reconstruction errors on system performances.By considering actuator dynamics,input constraints and jammed faults,we propose an online linear-matrix-inequality(LMI) optimization distribution algorithm for tracking desired guidance commands.Simulation results show good tracking control performances of the proposed method.
We propose a robust reconfigurable tracking control scheme for the multi-variable and unstable attitude system of the near-space vehicle(NSV) with parameter uncertainties,external disturbances,dynamic actuator and input constraints.A second-order sliding-mode disturbance observer is used to reconstruct compound disturbances in the loops of attitude and angular rate respectively.The backstepping method with integral filter is used to avoid the growing of differential orders in controller design.The robust terms offset the impact of the reconstruction errors on system performances.By considering actuator dynamics,input constraints and jammed faults,we propose an online linear-matrix-inequality(LMI) optimization distribution algorithm for tracking desired guidance commands.Simulation results show good tracking control performances of the proposed method.
引文
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[20]BESNARD L,SHTESSEL Y B,LANDRUM B.Quadrotor vehicle control via sliding mode controller driven by sliding mode distur-bance observer[J].Journal of the Franklin Institute,2012,349(2):658-349.
[21]曾宪法,王洁瑶,王小虎,等.基于SMDO的滑模控制器设计及其在导弹上的应用[J].航空学报,2011,35(5):873-880.(ZENG Xianfa,WANG Jieyao,WANG Xiaohu,et al.Design of slid-ing mode controller based on SMDO and its application to missile control[J].Acta Aeronautica et Astronautica Sinica,2011,35(5):873-880.)
[22]HALL C E,SHTESSEL Y B.Sliding mode disturbance observer-based control for a reusable launch vehicle[J].Journal of Guidance,Control and Dynamics,2006,29(6):1315-1328.
[23]KHALIL H K.Nonlinear Systems[M].3rd Edition.New Jersy:Pren-tice Hall,2002:162-180.
[24]YANG L Y,FAN Y M,SHAO S,et al.Control allocation and manage-ment of redundant control effectors based on bases sequenced method[J].Science in China(Series F),2010,53(2):577-583.
[25]贺成龙,陈欣,杨一栋.一种动态逆解算的RLV混合规划控制分配研究[J].系统工程与电子技术,2010,32(8):1973-1976.(HE Chenglong,CHEN Xin,YANG Yidong.Mixed programming control allocation for reusable launch vehicles using dynamic inverse calculating[J].Systems Engineering and Electronics,2010,32(8):1973-1976.)
[26]BURKEN J J,PING L.Two reconfigurable flight control design methods:robust ervomechanism and control allocation[J].Journal of Guidance,Control and Dynamics,2001,24(3):482-493.
[2]YOUNG M,KEITH S.An overview of advanced concepts for near-space systems[C]//The45th AIAA/ASME/SAE/ASEE Joint Propul-sion Conference&Exhibit.Denver,CO:American Institute of Aero-nautics and Astronautics,2009:AIAA-2009-4805.
[3]JOYCE P J,POMROY J B,GRINDLE L.The hyper-X launch vehi-cle:challenges and design considerations for hypersonic flight test-ing[C]//AIAA/CIRA the13th International Space Planes and Hyper-sonics Systems and Technologies.Reston,VA:American Institute of Aeronautics and Astronautics,2005:AIAA-2005-3333.
[4]吴宏鑫,孟斌.高超声飞行器控制研究综述[J].力学进展,2009,39(6):756-765.(WU Hongxin,MENG Bin.Review of the control of hypersonic flight vehicles[J].Advances in Mechanics,2009,39(6):756-765.)
[5]CHENG L,JIANG C S,PU M.Online-SVR-compensated nonlinear generalized predictive control for hypersonic vehicles[J].Science in China(Series F),2011,54(3):551-562.
[6]DU Y L,WU Q X,JIANG C S,et al.Robust predictive control for hypersonic vehicles using recurrent functional link artificial neural networks[J].International Journal of Innovative Computing,Infor-mation and Control,2010,6(12):5351-5365.
[7]XU H J,IOANNOU P A,MIRMIRANI M.Adaptive sliding mode control design for a hypersonic flight vehicle[J].Journal of Guid-ance,Control and Dynamics,2004,27(5):829-838.
[8]HARL N,BALAKRISHNAN S N.Reentry terminal guidance through sliding mode control[J].Journal of Guidance,Control and Dynamics,2010,33(1):186-199.
[9]JIANG B,GAO Z F,SHI P,et al.Adaptive fault-tolerant tracking control of near space vehicle using Takagi-Sugeno fuzzy models[J].IEEE Transcations on Fuzzy Systems,2010,18(5):1000-1007.
[10]SONNEVELDT L,CHU Q P,MULDER J A.Nonlinear flight con-trol design using constrained adaptive backstepping[J].Journal of Guidance,Control and Dynamics,2007,30(2):322-336.
[11]LUO Y,YEH Y H,ISHIHARA A K.Adaptive backstepping de-sign for a longitudinal UAV model utilizing a fully tuned frow-ing radial basis function network[C]//AIAA Infotech@Aerospace.St.Louis,MO:American Institute of Aeronautics and Astronautics,2011:AIAA-2011-1451.
[12]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.
[13]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):401-416.
[14]高道祥,孙增圻,罗熊,等.基于backstepping的高超声速飞行器模糊自适应控制[J].控制理论与应用,2008,25(5):805-810.(GAO Daoxiang,SUN Zengqi,LUO Xiong,et al.Fuzzy adaptive control for hypersonic vehicle via backsteeping method[J].Control Theory&Applications,2008,25(5):805-810.)
[15]LI X D,XIAN B,DIAO C,et al.Output feedback control of hyper-sonic vehicles based on neural network and high gain observer[J].Science in China(Series F),2011,54(3):429-447.
[16]XU Y F,JIANG B,TAO G,et al.Fault tolerant control for a class of nonlinear systems with application to near space vehicle[J].Circuits System and Signal Process,2011,30(3):655-672.
[17]SHAUGHNESSY J D,PINCKNEY S Z,MCMINN J D,et al.Hy-personic vehicle simulation model:winged-cone configuration[M]//NASA Technical Memorandum,102610.Hampton,VA:National Aeronautics and Space Administration Langley Research Center,1990.
[18]都艳丽.近空间飞行器姿态与轨迹的非线性自适应控制研究[D].南京:南京航空航天大学,2010.(DU Yanli.Study of nonlinear adaptive attitude and trajectory control for near space vehicles[D].Nanjing:Nanjing University of Aeronau-tics and Astronautics,2010.)
[19]LU Y S.Sliding-mode disturbance observer with switching-gain adaptation and its application to optical disk drives[J].IEEE Trans-actions on Industrial Electronics,2009,56(9):3743-1328.
[20]BESNARD L,SHTESSEL Y B,LANDRUM B.Quadrotor vehicle control via sliding mode controller driven by sliding mode distur-bance observer[J].Journal of the Franklin Institute,2012,349(2):658-349.
[21]曾宪法,王洁瑶,王小虎,等.基于SMDO的滑模控制器设计及其在导弹上的应用[J].航空学报,2011,35(5):873-880.(ZENG Xianfa,WANG Jieyao,WANG Xiaohu,et al.Design of slid-ing mode controller based on SMDO and its application to missile control[J].Acta Aeronautica et Astronautica Sinica,2011,35(5):873-880.)
[22]HALL C E,SHTESSEL Y B.Sliding mode disturbance observer-based control for a reusable launch vehicle[J].Journal of Guidance,Control and Dynamics,2006,29(6):1315-1328.
[23]KHALIL H K.Nonlinear Systems[M].3rd Edition.New Jersy:Pren-tice Hall,2002:162-180.
[24]YANG L Y,FAN Y M,SHAO S,et al.Control allocation and manage-ment of redundant control effectors based on bases sequenced method[J].Science in China(Series F),2010,53(2):577-583.
[25]贺成龙,陈欣,杨一栋.一种动态逆解算的RLV混合规划控制分配研究[J].系统工程与电子技术,2010,32(8):1973-1976.(HE Chenglong,CHEN Xin,YANG Yidong.Mixed programming control allocation for reusable launch vehicles using dynamic inverse calculating[J].Systems Engineering and Electronics,2010,32(8):1973-1976.)
[26]BURKEN J J,PING L.Two reconfigurable flight control design methods:robust ervomechanism and control allocation[J].Journal of Guidance,Control and Dynamics,2001,24(3):482-493.