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针对非线性、多变量、不稳定且包含不确定参数的高超声速飞行器模型,设计了高超声速飞行器的鲁棒自适应Backstepping控制器。采用指令滤波的设计方法,得到内回路的跟踪指令及其一阶微分信号,避免了虚拟控制信号需要进行复杂求导计算的困难。飞行器不确定参数采用自适应律在线调整,通过设计辅助滤波系统,并通过修改自适应律中跟踪误差的定义,消除由于期望控制信号不能完全执行所引起的跟踪误差的影响,保证了参数估计在控制信号约束情况下的顺利进行。仿真结果表明,所提出的设计方法不仅应用简单,且能保证高超声速飞行器在不确定参数存在情况下的闭环稳定及良好的跟踪控制性能。
For the hypersonic vehicle model with nonlinear, multivariable, unstable and uncertain parameters, a robust adaptive Backstepping controller for hypersonic vehicle is designed. Adopting the design method of instruction filtering, the inner loop tracking command and the first order differential signal are obtained, which avoids the difficulty that the virtual control signal needs complicated calculation. The uncertainty parameter of aircraft is adjusted by adaptive law. By designing the auxiliary filtering system and by modifying the definition of tracking error in adaptive law, the influence of tracking error caused by the incomplete execution of expected control signal is eliminated, and the parameter estimation is guaranteed The control signal restrains the situation smoothly. The simulation results show that the proposed design method not only has the advantages of simple application, but also ensures the closed-loop stability and good tracking control performance of the hypersonic vehicle in the presence of uncertain parameters.