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针对导弹模型同时具有不确定性和执行机构饱和受限的问题,首先针对模型不确定性,将质心运动方程的非线性影响、耦合影响、外部环境干扰视为总干扰,并设计扩展状态观测器对其进行实时估计;然后针对舵偏角和角速度存在饱和受限的问题,设计辅助系统和限幅微分器;最后结合反演和有限时间稳定系统理论,设计有限时间控制器,以保证整个闭环系统在受限条件下能收敛到参考信号.数值仿真结果表明,所设计的控制器与理论分析结果一致,是可行而有效的.
In view of the uncertainty of the missile model and the limited saturation of the actuator, the nonlinear influence of the centroid equation, the coupling effect and the disturbance of the external environment are regarded as the total disturbances. The extended state observer Then the real-time estimation is carried out. Then, the design of the assistant system and the limiter differentiator are designed for the problem that the steering angles and angular velocities are limited in saturation. Finally, a finite-time controller is designed based on the theory of inversion and finite-time stabilization to ensure the entire closed-loop The system can converge to the reference signal under limited conditions.The numerical simulation results show that the designed controller is in agreement with the theoretical analysis and is feasible and effective.