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针对高超声速飞行器执行机构饱和的控制器设计问题,提出一种多回路抗饱和鲁棒自适应切换控制方法.首先针对高超声速飞行器的运动模态在频率上表现出显著的分离特性,将状态变量分开不同的回路设计;然后对受执行机构饱和影响明显的状态设计参考切换系统,从而降低模型和控制器参数设计的复杂性,将一系列可能导致执行机构饱和的事件视作切换信号,选定参考切换模型及鲁棒自适应控制器,保证控制输入不达到饱和状态,并通过多李亚普诺夫函数方法和线性矩阵不等式分析了控制器的稳定性.仿真结果表明了控制方案的有效性,在存在执行机构失效故障和干扰的情况下,系统状态可良好的跟踪参考状态且控制输入小于执行机构限幅.
In order to solve the controller design problem of hypersonic actuator’s saturation, a multiloop anti-saturation robust adaptive switching control method is proposed.Firstly, according to the hypersonic vehicle’s modal of motion showing significant separation characteristics in frequency, the state variables Separate the different loop designs; and then design the reference switching system in a condition that is significantly affected by the actuator saturation, thereby reducing the complexity of the model and controller parameter design, treating a series of events that may cause the actuator to saturate as a switching signal, Reference switching model and robust adaptive controller to ensure that the control input is not saturated and the stability of the controller is analyzed by the method of multiple Lyapunov functions and the linear matrix inequalities.The simulation results show the effectiveness of the control scheme, In the presence of actuator failures and disturbances, the system status tracks the reference condition well and the control input is less than the actuator limit.