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针对具有强耦合和强不确定性特点的高超声速飞行器控制问题,提出一种考虑耦合特性的新型鲁棒姿态控制律。首先,建立高超声速飞行器的姿态动力学方程,并基于反步法思想转化为误差动态模型;然后结合干扰观测器提出基于耦合特性的飞行器鲁棒控制方法,并设计滑模补偿项保证姿态角渐近收敛到跟踪指令;最后基于绝对误差积分(IAE)指标从理论上证明本文方法相对于未考虑耦合特性的方法具有更好的动态性能。本文提出的控制方法不仅保证系统渐近稳定性和强鲁棒性,而且将耦合特性考虑进控制器设计中,进而提升了系统的动态性能。数值仿真考虑气动参数拉偏以及实际的执行机构幅值和速率限制,仿真结果校验了本文控制系统设计的有效性。
Aiming at the hypersonic vehicle control problem with strong coupling and strong uncertainty, a new robust attitude control law considering the coupling characteristics is proposed. Firstly, the attitude dynamics equation of the hypersonic vehicle is established and transformed into error dynamic model based on the idea of backstepping method. Then the robust control method of aircraft based on coupling characteristics is proposed based on disturbance observer, and the sliding mode compensation term is designed to ensure that the attitude angle gradually increases Converges to the tracking order. Finally, based on the absolute error integral (IAE) index, the proposed method is proved to have better dynamic performance than the method without considering the coupling characteristic. The proposed control method not only guarantees the asymptotic stability and robustness of the system, but also considers the coupling characteristics into the design of the controller so as to improve the dynamic performance of the system. The numerical simulation considers the pull-off of the aerodynamic parameters and the actual actuator amplitude and speed limits. The simulation results verify the effectiveness of the proposed control system design.