非线性干扰观测器的高超声速飞行器鲁棒反演控制

摘要

A nonlinear disturbance observer based on robust backstepping controller is designed for hypersonic vehicles. Based on backstepping control method,velocity and altitude controllers are designed respectively. The sliding mode differentiators are introduced to obtain the derivatives of virtual control laws,which avoids the explosion of differentiation teens in the traditional backstepping control. In order to enhance the controllers' robustness,a nonlinear disturbance observer is introduced to estimate and compensate the model uncertainties. Reference trajectory tracking simulation shows the effectiveness of this controller in tracking velocity and altitude commands.%针对高超声速飞行器控制系统设计,提出一种基于干扰观测器的鲁棒反演控制器设计方法.采用反演控制方法分别设计速度和高度控制器.引入滑模微分器设计虚拟控制量的导数求解器,避免了传统反演控制"微分项膨胀"问题.为增强控制器的鲁棒性,设计一种非线性干扰观测器对模型不确定项进行自适应估计和补偿.通过数值仿真表明,该控制器能够保证对速度和高度参考输入的稳定跟踪.