吸气式高超声速飞行器鲁棒非奇异Terminal滑模反步控制

doi:10.7527/S1000-6893.2016.0182

电子电气工程与控制

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吸气式高超声速飞行器鲁棒非奇异Terminal滑模反步控制

王肖¹, 郭杰¹, 唐胜景¹, 徐倩², 马悦悦^1,3, 张尧¹

1. 北京理工大学宇航学院, 北京 100081;
2. 北京宇航系统工程研究所, 北京 100076;
3. 北京机电工程总体设计部, 北京 100854

收稿日期:2016-04-05 修回日期:2016-06-06 出版日期:2017-03-15 发布日期:2016-06-12
通讯作者: 郭杰,E-mail:guojie1981@bit.edu.cn E-mail:guojie1981@bit.edu.cn
基金资助:
国家自然科学基金（11202024）；航空科学基金（2012ZA720002）

Robust nonsingular Terminal sliding mode backstepping control for air-breathing hypersonic vehicles

WANG Xiao¹, GUO Jie¹, TANG Shengjing¹, XU Qian², MA Yueyue^1,3, ZHANG Yao¹

1. School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China;
2. Beijing Institute of Astronautical Systems Engineering, Beijing 100076, China;
3. Beijing System Design Institute of Electro-Mechanic Engineering, Beijing 100854, China

Received:2016-04-05 Revised:2016-06-06 Online:2017-03-15 Published:2016-06-12
Supported by:
National Natural Science Foundation of China (11202024); Aeronautical Science Foundation of China (2012ZA720002)

摘要/Abstract

摘要：

针对含有参数摄动、外界干扰的吸气式高超声速飞行器弹性模型，设计了一种基于新型非线性干扰观测器的Terminal滑模反步控制器。将考虑弹性模态的飞行器纵向模型表示为严格反馈形式，在传统反步法的基础上采用非奇异快速Terminal滑模控制俯仰角与俯仰角速率，优化了反步法的控制结构，并实现了系统的有限时间收敛。基于跟踪微分器设计了一种新型非线性干扰观测器，并与本文所提滑模反步方法相结合，通过对包括虚拟控制量微分信号在内的不确定性进行估计与补偿，进一步提高了控制器的鲁棒性，同时解决了"微分膨胀"问题。基于Lyapunov稳定性理论证明了系统的跟踪误差于有限时间收敛至零。仿真结果表明，该控制器在存在不确定性的情况下，可以实现对参考输入的稳定跟踪。

关键词: 高超声速飞行器, 滑模控制, 反步法, 非线性干扰观测器, 有限时间收敛

Abstract:

A new nonlinear disturbance observer based Terminal sliding mode backstepping controller is proposed for flexible air-breathing hypersonic vehicles with parameter perturbations and external disturbances. The longitudinal vehicle model considering the elastic mode is expressed as strict feedback form. On the basis of traditional backstepping method, the nonsingular fast Terminal sliding mode is introduced to control the pitch angle and pitch rate, thus optimizing the control structure and enabling the system with finite time convergence property. A new nonlinear disturbance observer developed from tracking differentiator is then introduced to estimate and compensate the uncertainties including the derivatives of virtual control laws to improve the robustness of the controller, which avoids the explosion of differentiation terms. The system tracking error is proven to converge to zero in finite time with Lyapunov stability theory. Simulations demonstrate the effectiveness of tracking input commands with the designed controller in the presence of uncertainties.

Key words: hypersonic vehicles, sliding mode control, backstepping method, nonlinear disturbance observer, finite time convergence

中图分类号:

V448.2

王肖, 郭杰, 唐胜景, 徐倩, 马悦悦, 张尧. 吸气式高超声速飞行器鲁棒非奇异Terminal滑模反步控制[J]. 航空学报, 2017, 38(3): 320287-320287.

WANG Xiao, GUO Jie, TANG Shengjing, XU Qian, MA Yueyue, ZHANG Yao. Robust nonsingular Terminal sliding mode backstepping control for air-breathing hypersonic vehicles[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(3): 320287-320287.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

吸气式高超声速飞行器鲁棒非奇异Terminal滑模反步控制

Robust nonsingular Terminal sliding mode backstepping control for air-breathing hypersonic vehicles

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