针对高超声速飞行器无动力再入过程中具有强耦合、气动参数摄动及不确定性的非线性姿态模型，通过构造连续光滑扩张状态观测器及自抗扰串级解耦控制技术，设计了便于工程实际应用的高超声速飞行器自抗扰姿态控制器．通过构造qin函数实现了连续光滑扩展状态观测器的设计，可避免自抗扰控制器应用过程中的高频颤振现象．通过自抗扰串级耦合控制技术，解决了设计飞行器内外环控制器时需忽略内环对外环的耦合影响问题，并解决了难于获取精确的飞行器被控模型及精确的气动参数、摄动界限等问题．仿真结果表明了本方法的有效性．%This paper constructs a continuous and smooth extended state observer and disturbance rejection cascade decoupling control technology, which is aimed at the nonlinear attitude model with strong coupling, aerodynamic parameter perturbations and uncertainties in the process of hypersonic vehicle without power re- entry. An ADRC attitude controller is presented for hypersonic vehicle in convenient to the practical applica- tion of engineering, and a continuous and smooth extended state observer is designed by constructing qin func- tion to avoid high-frequency chatter during ADRC application process, which solves the problem of ignoring the coupling impact on outer loop that is caused by inner loop in the inner and outer loop controller, and also solves the problems of charged aircraft model, aerodynamic parameters and perturbation boundaries which are difficult to obtain accurately and precisely. Simulation results show the effectiveness of the method.
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