高超声速飞行器姿态跟踪鲁棒自适应控制

摘要

An attitude tracking controller is proposed for hypersonic reentry vehicle (HRV) system with uncertain parameters and external disturbances being simultaneously addressed.Firstly,the nonlinear affine model of HRV was researched.Then a robust adaptive controller was designed based on the backstepping method.In the proposed controller,adaptive strategies were used to estimate the uncertain aerodynamic parameters online.A robust strategy was applied to eliminate the external disturbances.Meanwhile,a first-order low-pass filter was used to avoid the virtual variable derivative in the backstepping method.The tracking errors were proved uniformly and ultimately bounded by the Lyapunov stability theorem.Simulation results show that the proposed robust adaptive controller,in the presence of aerodynamic parameters perturbations and external disturbances,has good tracking performance and strong robustness.%针对高超声速飞行器再入姿态跟踪问题提出一种新的控制策略,该控制律同时考虑气动参数摄动和外界干扰.首先,研究面向控制对象的仿射非线性模型;然后,基于反步法设计一种鲁棒自适应控制律.该控制律采用自适应策略在线估计不确定参数,利用鲁棒控制策略对外界干扰进行补偿,并且引入一阶低通滤波器避免了反步法中虚拟变量求导计算复杂的问题.最后,基于Lya-punov稳定性理论证明了姿态角跟踪误差一致最终有界.仿真结果证明该鲁棒自适应控制律能够有效抑制外界干扰,对不确定参数有良好自适应性,具有良好的跟踪性能和强鲁棒性.