高速飞行器新型自适应干扰估计姿态控制律

摘要

考虑受到非匹配不确定性影响的高超声速飞行器控制问题,提出一种基于自适应滑模干扰观测器的反步法姿态控制律.利用自适应滑模理论设计新型干扰观测器,并采用Lyapunov理论证明其能够对外界扰动进行精确估计,其优点在于其不需要知道不确定项的上界,减少了对不确定项的信息要求;然后给出干扰观测器参数的选择选取关系.最后结合反步法设计高超声速飞行器姿态控制律,不仅能够获得良好的跟踪性能,而且对于非匹配扰动具有较强的鲁棒性.数值仿真考虑气动参数拉偏以及实际的执行机构幅值和速率限制,仿真结果验证了文中控制律的有效性.%Aiming at the attitude control issue for hypersonic vehicles with the mismatched uncertainties, this paper presents an adaptive sliding mode disturbance observer-based backstepping control law.Firstly, the disturbance observer is designed based on the adaptive sliding mode technique, and the precise estimation of the disturbance is guaranteed via the Lyapunov stability theory.The merit of this disturbance observer is that the disturbance boundary is not known in advance.Then, the relationship for observer gains is given.At last, the backstepping control law for the hypersonic vehicle combining with the disturbance observer is developed.This control law is not only able to achieve the good tracking performance, but also robust against the mismatched uncertainties.The parameters perturbation and actuator restriction are considered in the numerical simulation, and the results demonstrate the effectiveness of the proposed approach.