高超声速飞行器快速终端滑模保性能容错控制

doi:10.7527/S1000-6893.2023.28476

Abstract

Abstract:

Aiming at the attitude control problem of hypersonic vehicle under the influence of model uncertainties， external disturbances and actuator faults， a non-singular fast terminal sliding mode fault-tolerant control method considering prescribed performance is proposed. Firstly， a fault-tolerant control model is established based on the attitude motion model and the actuator faults model， and the transient and steady-state performance of the attitude tracking error system is quantitatively designed by using the prescribed performance function. Secondly， a novel sliding mode disturbance observer is designed to accurately estimate the compound disturbances composed of model uncertainties， external disturbances and actuator faults. Then， a non-singular fast terminal sliding mode fault-tolerant controller is designed with the estimated value of the compound disturbances as compensation， and the stability of the closed-loop system is proved by the Lyapunov stability theory. Finally， simulation results show that the proposed method has good fault tolerance performance.

Key words: hypersonic flight vehicle, attitude fault-tolerant control, sliding mode disturbance observer, non-singular fast terminal sliding mode control, prescribed performance control

CLC Number:

V448.2

Zhongsen WANG, Yuxin LIAO, Caisheng WEI, Ting DAI. Fast terminal sliding mode fault⁃tolerant control of hypersonic vehicle with guaranteed performance[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(24): 328476-328476.

Figures/Tables 23

Fig.1

Fig.2

Fig.3

Fig.4

Table 1

Actuator failures

实际舵	偏置故障 $u ¯ j j = 1,2, 3,4$	增益故障 $Λ j$
1号舵	$0 t ≤ 3 s 0.01 s i n 0.2 t - 3 t > 3 s$	$1 t ≤ 10 s 0.8 t > 10 s$
2号舵	$0 t ≤ 3 s 0.04 s i n 0.2 t - 3 t > 3 s$	$1 t ≤ 10 s 0.8 t > 10 s$
3号舵	$0 t ≤ 3 s 0.01 s i n 0.2 t - 3 t > 3 s$	$1 t ≤ 10 s 0.8 t > 10 s$
4号舵	$0 t ≤ 3 s 0.04 s i n 0.2 t - 3 t > 3 s$	$1 t ≤ 10 s 0.8 t > 10 s$

Table 1

Table 2

Parameters for method of this article

参数来源	参数设置
干扰观测器	$η 0 = 0.1, η 1 = 0.5$
控制器	$α 1 = 0.99, β 1 = 10, k 1 = 4, k 2 = 2, α 2 = 0.7, β 2 = 1.2, k 3 = 0.5, k 4 = 0.8 ξ 1 = ξ 2 = ξ 3 = ξ 4 = [0.01 0.01 0.01] T, l i = 2, T i = 5, ρ 0 = [10 ° 1.5 ° 25 °] T ρ ∞ = [0.08 ° 0.08 ° 0.08 °] T$

Table 2

Table 3

Parameters of Method 1

参数来源	参数设置
干扰观测器	$l 1 = l 2 = 4, l 3 = 5, μ = 3$
控制器	$κ = 1, m = 11, n = 9, η 1 = 50, η 2 = 5, ξ = 0.99$

Table 3

Table 4

Parameters of Method 2

参数来源	参数设置
干扰观测器	$T u = 0.1, ϑ 1 = 4.5, ϑ 2 = 9.9, μ 1 = 0.3, μ 2 = 3, α e = 0.6$
一阶滤波器	$τ u = 0.001$
控制器	$k u 1 = 15, k u 21 = 1 200, k u 22 = 750, k u 23 = 1 500, a u 1 = 2, a u 2 = 0.1$

Table 4

Fig.5

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Fig.15

Fig.16

Fig.17

Fig.18

Fig.19

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Fast terminal sliding mode fault⁃tolerant control of hypersonic vehicle with guaranteed performance

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