基于扩张状态观测器的变形机翼抗饱和控制

摘要

针对一类滑动蒙皮机翼模型的强非线性、模型不确定性、未知外部干扰以及执行器饱和特性,提出了基于扩张状态观测器(extended state observer,ESO)的抗饱和控制方法.通过将变形机翼系统的不确定性视为扩张状态,设计了ESO对扩张状态进行估计;并在控制策略中,对观测出的扩张状态进行实时补偿;利用线性矩阵不等式工具给出了执行器饱和条件下的收敛域.数值仿真结果表明变形机翼系统可以有效克服模型不确定性、未知外部干扰与执行器饱和的影响,完成变形指令.%An anti-windup control strategy based on the extended state observer is designed for a class of sliding skin morphing wing subject to strong nonlinearity, uncertainties, disturbances and actuator saturation.The multiple uncertainties of the morphing wing are treated as an extended state, and estimated in the designed observer.Then the extended state is compensated in the controller in real time.The domain of attraction subject to actuator saturation condition is given based on linear matrix inequality.The simulation results demonstrate the effectiveness of the proposed method, and that the morphing wing can complete morphing instructions despite of the uncertainties and actuator saturation.