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针对高超音速飞行器严格反馈不确定非线性MIMO系统,考虑系统状态不可完全测量的问题,提出一种基于状态观测器的反步控制方法。该方法在系统具有不确定项的情况下,充分利用角速率信号和系统建模信息设计滑模观测器,实现对高超音速飞行器气流角的估计,并通过理论推导出了观测器的收敛条件和观测器增益矩阵的计算方法;基于反步法设计气流角跟踪控制律,分别采用指令滤波和动态面方法得到气流角指令和虚拟控制量的一阶导数,以Lya-punov方法证明闭环系统跟踪误差最终有界收敛。仿真结果表明,在系统存在不确定项且气流角不可测的条件下,所设计方法依然可以实现气流角的稳定跟踪。
In view of the hypersonic vehicle strict feedback uncertain nonlinear MIMO system, considering the problem that the state of the system can not be fully measured, a state observer based backstepping control method is proposed. The method makes full use of the angular rate signal and system modeling information to design sliding mode observer to estimate the airflow angle of hypersonic vehicle under the condition that the system has uncertainties. The convergence condition of the observer is deduced theoretically Observer gain matrix. Based on the backstepping method, the first-order derivatives of the airflow angle command and the virtual control volume are obtained by using command filter and dynamic plane method. The tracking error of the closed-loop system is proved by Lya-punov method Eventually bounded convergence. The simulation results show that the designed method can still achieve the stable tracking of the airflow angle under the condition that the system has uncertainties and the airflow angle is not measurable.