VTHL运载器再入返回预设时间滑模控制

doi:10.7527/S1000-6893.2022.26857

Abstract

Abstract:

A novel predefined-time attitude control method for VTHL reusable launch vehicle is proposed in the presence of parameter uncertainties and disturbances in the reentry phase. The attitude errors of the VTHL reusable vehicle can be stabilized to zero in a predefined time which is independent of any initial condition. Firstly，a novel nonsingular predefined-time sliding mode surface is proposed based on the inverse tangent function，on which the states converge to the origin in predefined time. Subsequently，a predefined-time sliding mode controller is designed to ensure that the sliding mode arrives in predefined-time. The sinusoidal compensation function is introduced to avoid singularity of the controller. Moreover，with the usage of the predefined-time extended state observer，the robustness of the control system is enhanced，and the chattering phenomenon is alleviated. Finally，the predefined-time convergence of the attitude tracking errors is analyzed by the Lyapunov method. Various numerical simulation results are carried out，demonstrating the effectiveness of the proposed control scheme.

Key words: Vertical Takeoff and Horizontal Landing(VTHL) launch vehicle, reentry phase, predefined-time control, sliding mode control, extended state observer

CLC Number:

V448.1

Shihao XU, Yingzi GUAN, Jialun PU, Changzhu WEI. Predefined-time sliding mode control for VTHL launch vehicle in reentry phase[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(7): 326857-326857.

Figures/Tables 14

Fig. 1

Table 1

Parameter values of PTSMC

组成项	参数取值
扩张状态观测器	$l 1 = l 2 = l 3 = 0.01$ ， $v = 0.05$ ， $T E = 1$ s， $L = 0.1$ ， $k 3 = 1.01, k 2 = 5.33, k 1 = 3.35$
滑模面	$γ 1 = 19, γ 2 = 21, κ = 0.9$
控制律	$p = 0.7, α ¯ = 0.8, β ¯ = 1.2, ι = 0.0001, k = 3, η = d i a g 0.001,0.001,0.001$

Table 1

Table 2

Fig. 2

Fig. 3

Fig. 4

Table 3

Parameter values of FTSMC and FxTSMC

控制方法	参数值
FTSMC	$λ ⌢ 1 = 3, λ ⌢ 2 = 2, r ⌢ = 7 / 9, ε ⌢ = 0.001, μ ⌢ 1 = 1.1, μ ⌢ 2 = 0.8, γ ⌢ = 10, α ⌢ 0 = 15, v ⌢ = 0.1, δ ⌢ = 1$
FxTSMC	$η ⌣ = 0.75, b ⌣ = 1.05, α ⌣ 1 = 0.8, β ⌣ 1 = 1.2, ϒ ⌣ = 2, T ⌣ u = 0.1, λ ⌣ 1 = λ ⌣ 2 = 3, v ⌣ 1 = 1.2, v ⌣ 2 = 0.8, χ ⌣ 1 = χ ⌣ 2 = 2, γ ⌣ 1 = 1.8, γ ⌣ 2 = 0.7$

Table 3

Fig. 5

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

Fig. 11

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Predefined-time sliding mode control for VTHL launch vehicle in reentry phase

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