基于反步滑模的高超声速变体飞行器鲁棒控制
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摘要
针对高超声速变体飞行器在气动构型变化过程中的姿态稳定控制问题,提出一种将反步法和滑模控制相结合的鲁棒姿态控制方法。首先采用凯恩方法建立高超声速变体飞行器姿态运动方程,基于反步法设计思想选取Lyapunov函数,回馈递推设计滑模控制律,保证标称状态下的渐进稳定。考虑到模型误差和外界干扰影响,设计扩张状态观测器,对系统总扰动进行动态观测并在控制器中实时补偿。最后进行仿真验证和对比分析,结果表明提出的方法相比传统极点配置方法具有更好的姿态跟踪性能。
A robust attitude control method combining backstepping and sliding mode control is proposed for the attitude stability control of hypersonic morphing vehicle in aerodynamic configuration.The Kane method was used to establish the attitude motion equation firstly.Then select the Lyapunov function based on the backstepping method and the sliding mode control law was designed to ensure the asymptotic stability in the nominal state.Considering the influence of the model uncertainties and external disturbance,an extended state observer(ESO) was introduced to observe the uncertainties and compensate the controller in real time.Numerical simulations and comparison analysis were carried out finally.The results show that the proposed method has better attitude tracking performance compared with the traditional pole placement method.
A robust attitude control method combining backstepping and sliding mode control is proposed for the attitude stability control of hypersonic morphing vehicle in aerodynamic configuration.The Kane method was used to establish the attitude motion equation firstly.Then select the Lyapunov function based on the backstepping method and the sliding mode control law was designed to ensure the asymptotic stability in the nominal state.Considering the influence of the model uncertainties and external disturbance,an extended state observer(ESO) was introduced to observe the uncertainties and compensate the controller in real time.Numerical simulations and comparison analysis were carried out finally.The results show that the proposed method has better attitude tracking performance compared with the traditional pole placement method.
引文
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[2]张杰,吴森堂.一种变体飞行器的动力学建模与动态特性分析[J].北京航空航天大学学报,2015,(1):58-64.
[3]何墉,等.基于多目标控制的变体飞行器切换线性变参数控制器[J].控制理论与应用,2015,32(11):1518-1525.
[4]王青,等.变体飞行器链式平滑切换控制[J].控制理论与引用,2015,32(7):949-954.
[5]陈伟,等.基于backstepping/RHO的变体飞机控制器设计[J].北京航空航天大学学报,2014,40(8):1060-1065.
[6]江未来,等.变体飞行器切换LPV鲁棒控制[J].控制与决策,2016,31(1):66-72.
[7]董朝阳,等.基于布谷鸟搜索算法的一类变体飞行器容错控制[J].航空学报,2015,36(6):2047-2054.
[8]胡超芳,刘运兵.基于ESO的高超声速飞行器模糊自适应姿态控制[J].航天控制,2015,33(3):45-51.
[9]杨文骏,等.基于ESO的高超声速飞行器非线性动态逆控制[J].西北工业大学学报,2016,34(5):805-811.
[10]刘晓东,黄万伟,禹春梅.含扩张状态观测器的高超声速飞行器动态面姿态控制[J].宇航学报,2015,36(8):916-922.
[11]高强,刘俊杰,刘文杰.四旋翼飞行器姿态的自抗扰控制研究[J].计算机仿真,2016,33(12):38-41.