针对高超声速飞行器具有强非线性、高不确定性及强耦合等特点，提出一种基于反馈线性化控制与特征模型自适应控制相结合的姿态控制律设计方法，解决姿态控制系统的非线性耦合与不确定性，保证飞行器控制系统稳定。首先，建立高超声速飞行器全通道非线性耦合的动力学模型。其次，利用反馈线性化控制方法将全通道非线性耦合系统解耦成近似线性系统，并对线性解耦系统设计输出反馈控制律；而对于反馈线性化控制依赖于系统的精确数学模型，并对建模误差和外部干扰敏感的问题，设计基于误差特征模型的自适应控制律，提高系统的适应性；针对原动力学模型，证明闭环控制系统是有界稳定的。最后，通过数学仿真校验了控制律设计的正确性与有效性，仿真结果表明设计的姿态控制系统可以很好地跟踪指令，具有较强的鲁棒稳定性。%Considering that a hypersonic vehicle has strong nonlinearity,high uncertainty and strong coupling,this paper proposes an attitude control law design method,which is based on a combination of feedback linearization control and characteristic model-based adaptive control,in order to improve the rapidity,robustness and adaptability of the flight control systems.Firstly,the whole-channel nonlinear coupling dynamics model for the hypersonic vehicle is established. Secondly,the whole-channel nonlinear coupled system is changed into the approximate decoupling linear system using the feedback linearization control method.Then the output feedback control law is designed for the decoupled linear system which can ensure the system’s stability and rapidity.For the question that the feedback linearization control system relies on the accurate mathematical model and is sensitive to the modeling errors and external disturbance,an adaptive control law is designed based on the error characteristics model in order to ensure the robustness and adaptability of the system. Finally,the correctness and effectiveness of this control law are verified by simulation.The simulation results show that this attitude control system can track instructions well and has strong robustness and adaptability.
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