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为解决系统含有参数不确定性和(状态)执行器受限条件下的鲁棒自适应控制问题,将SISO系统指令滤波器推广到MIMO系统,提出一种基于指令滤波的自适应块控反步方法。在设计(虚拟)控制律时引入指令滤波器,在克服标准反步法虚拟控制律导数计算膨胀问题的同时,能够施加系统状态和执行器的限制条件,并通过引入扩展跟踪误差,有效解决了约束条件下参数估计过程的稳定性和跟踪误差收敛问题。给出了Lyapunov闭环稳定性证明,并将该方法应用于含有未知气动参数和输入饱和约束的飞行器非线性姿态控制器设计。6自由度飞行仿真表明,该控制器具有良好的指令跟踪能力和较强的鲁棒性。
In order to solve the problem of robust adaptive control of system with parameter uncertainties and (state) actuators constrained, an SISO system order filter is generalized to MIMO system. An adaptive block-based backstepping algorithm based on order filtering is proposed method. Introducing the command filter when designing (virtual) control law can overcome the limitation of the system state and the actuator while overcoming the expansion problem of the standard law of the law of the virtual control law. By introducing the extended tracking error, it effectively solves the problem of Stability of the Parameter Estimation Process and Tracking Error Convergence under Constraint Conditions. The proof of Lyapunov closed-loop stability is given and the method is applied to the design of the aircraft attitude controller with unknown aerodynamic parameters and input saturation constraints. The 6-DOF flight simulations show that this controller has good command tracking ability and robustness.