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针对含有参数摄动、外界干扰的吸气式高超声速飞行器弹性模型,设计了一种基于新型非线性干扰观测器的Terminal滑模反步控制器。将考虑弹性模态的飞行器纵向模型表示为严格反馈形式,在传统反步法的基础上采用非奇异快速Terminal滑模控制俯仰角与俯仰角速率,优化了反步法的控制结构,并实现了系统的有限时间收敛。基于跟踪微分器设计了一种新型非线性干扰观测器,并与本文所提滑模反步方法相结合,通过对包括虚拟控制量微分信号在内的不确定性进行估计与补偿,进一步提高了控制器的鲁棒性,同时解决了“微分膨胀”问题。基于Lyapunov稳定性理论证明了系统的跟踪误差于有限时间收敛至零。仿真结果表明,该控制器在存在不确定性的情况下,可以实现对参考输入的稳定跟踪。
Aiming at the elastic model of air-breathing hypersonic vehicle with parameter perturbation and external disturbance, a Terminal sliding mode backstepping controller based on a new nonlinear disturbance observer is designed. Based on the traditional backstepping method, the non-singular fast Terminal sliding mode is adopted to control the pitch and pitch velocities, and the control structure of the backstepping method is optimized and the longitudinal model of the aircraft in elastic mode is expressed as a strict feedback form. The finite time convergence of the system. A new type of nonlinear disturbance observer based on tracking differentiator is designed and combined with the sliding mode backstepping method proposed in this paper. The estimation and compensation of the uncertainties including the differential signal of virtual control are further improved The robustness of the controller solves the “differential expansion” problem at the same time. Based on Lyapunov stability theory, it is proved that the tracking error of the system converges to zero in a finite time. Simulation results show that the controller can achieve stable tracking of reference input in the presence of uncertainties.