针对参数不确定、外界干扰与测量噪声情况下飞行控制问题，提出一种基于通用扩张状态观测器的鲁棒飞行控制方法。基于状态相关的 Riccati 方程控制方法对飞行器俯仰通道非线性模型进行扩展线性化；引入基于通用扩张状态观测器的控制方法，设计干扰补偿增益，实现对外界干扰的估计与补偿；通过在线解算状态相关矩阵及代数黎卡提方程，得出状态反馈增益与干扰补偿增益，实现对飞行器期望攻角的跟踪控制。与已有方法对比表明，所提方法不仅对系统模型不确定性与外界干扰具有较强的鲁棒性，而且在较大测量噪声情况下，其依然能够保证良好的跟踪控制效果，具有较强的工程应用价值。%The robust flight control based on the generalized extended state observer was investigated to address the problems of parameter uncertainties,external disturbances and flight control with measurement noise.The nonlinear longitudinal dynamics were transformed into the linear-like structure state-space equations of state-dependent coefficients on the basis of the state-dependent Riccati equation control method. According to the control method based on generalized extended state observer,the disturbance compensation gain was designed to estimate and attenuate the external disturbances.Consequently,the state feedback gain and disturbance compensation gain were derived to track the desired angle of attack by solving the state-dependent coefficients and the algebraic Riccati equation on-line.Compared with other control methods,the proposed approach not only is robust with the parameter uncertainties and external disturbances,but also remains perfect in tracking performance with the measurement noise.It has high engineering application value.
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