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为解决带有非匹配不确定的弹性高超声速飞行器(FHV)鲁棒跟踪控制问题,设计一种基于有限时间干扰观测器的非奇异终端滑模控制器.首先,通过将弹性模态的影响视为不确定,与系统参数不确定一起处理为综合不确定,将带有弹性的高超声速飞行器模型简化为便于控制器设计的面向控制模型;其次,设计有限时间干扰观测器估计模型的综合不确定;进而,基于干扰观测器,设计一种新型的非奇异终端滑模面,将高阶不匹配问题转化成一阶匹配问题,进行控制器的设计;最后通过Lyapunov理论证明了闭环系统的稳定性.仿真结果表明:所设计的控制器可以有效抑制非匹配不确定及弹性的影响,实现了飞行器速度与高度的稳定跟踪控制.
In order to solve the problem of robust tracking control of a flexible hypersonic vehicle (FHV) with unmatched uncertainties, a non-singular terminal sliding mode controller based on a finite-time disturbance observer is designed.Firstly, Is uncertain, and is treated together with uncertain system parameters as a comprehensive uncertainty. The elastic hypersonic vehicle model is simplified to a control-oriented model that facilitates the controller design. Secondly, the design uncertainty of the finite-time interference observer estimation model Based on the disturbance observer, a new type of non-singular terminal sliding surface is designed. The high-order mismatch problem is transformed into a first-order matching problem, and the controller is designed. Finally, the stability of the closed-loop system is proved by Lyapunov theory. Simulation results show that the designed controller can effectively restrain the influence of non-matching uncertainty and elasticity, and realize the stable tracking control of the aircraft speed and altitude.