基于在线辨识的高速变构飞行器强适应控制

doi:10.7527/S1000-6893.2025.31654

Abstract

Abstract:

This paper investigates the robust adaptive control problem for high-speed morphing aircraft under model uncertainties， external disturbances， and non-minimum phase characteristics. First， a dynamic model incorporating uncertainties is established and subsequently decomposed into velocity and attitude subsystems based on system characteristics. A modified forgetting factor-based online parameter identification method is designed to estimate aerodynamic parameters in real-time， reducing reliance on prior model knowledge while providing real-time mode evaluation information for controller design. Subsequently， a game-enhanced neural network observer is proposed to handle composite disturbances， including identification errors， morphing uncertainties， and external disturbances， ensuring finite-time convergence of disturbance estimation errors to zero. By developing a morphing-redefinition strategy to reconfigure system outputs， specifically defined reference commands are generated for morphing configurations to avoid unstable internal dynamics caused by the coupling between elevators and lift. Finally， system stability is rigorously analyzed using Lyapunov theory， with simulation results validating the effectiveness of the proposed methodology.

Key words: hypersonic morphing vehicles, non-minimum phase, strong adaptive control, online identification, disturbance rejection

CLC Number:

Honglin LIU, Guan WANG, Shuaibin AN, Shaojie MA, Kai LIU. Online identification based strong adaptive control of hypersonic morphing vehicles[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(17): 331654.

Figures/Tables 9

Fig.1

Fig.2

Table 1

Body parameters of HMV

参数	符号	数值
机头长度/ $m$	$l 1$	3.43
机身总长/ $m$	$l 2$	8.00
水平翼机头距离/ $m$	$l 3$	4.70
尾翼机头距离/ $m$	$l 4$	9.73
机体直径/ $m$	$d$	1.14
水平翼翼跟弦长/ $m$	$c 1$	2.12
水平翼翼尖弦长/ $m$	$c 2$	0.92
尾翼翼跟弦长/ $m$	$c 3$	1.70
尾翼翼尖弦长/ $m$	$c 4$	0.85
最小展长/ $m$	$b 1$	1.63
最大展长/ $m$	$b 2$	2.55
尾翼翼展/ $m$	$b 3$	0.91
水平翼前缘后掠角/（°）	$χ 1$	60
尾翼前缘后掠角/（°）	$χ 2$	51.86
未变形参考面积/ $m 2$	$S 0$	5.66
纵向特征长度/ $m$	$c ¯$	1.148
飞机总质量/ $k g$	$m$	5 000
机翼质量/ $k g$	$m w$	100
绕机身 $Z$ 轴转动惯量/（ $k g ⋅ m 2$ ）	$I Z$	150 646

Table 1

Table 2

Initial condition and main controller setting

参数	符号	数值
初始高度/ $k m$	$h 0$	35.5
初始速度/（ $m · s$ ^-1）	$V 0$	2 936.36
初始变形率	$λ 0$	0
初始攻角/（°）	$α 0$	5.91
初始俯仰角/（°）	$ϑ 0$	5.91
初始燃油当量比	$ϕ 0$	0.05
初始升降舵偏角/（°）	$δ z 0$	0.86
Critic网络学习率	$Λ c$	0.02
Actor网络学习率	$Λ a$	0.02
速度误差反馈增益	$K V$	1.5
俯仰角速度误差反馈增益	$K ω$	6.5

Table 2

Fig.3

Fig.4

Fig.5

Fig.6

Fig.7

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Online identification based strong adaptive control of hypersonic morphing vehicles

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