基于轨迹线性化方法的导弹动态逆控制系统设计

摘要

Based on dynamic inverse and trajectory linearization control (TLC), a novel robust adaptive control system design approach for missiles was studied. Firsfiy, the dynamic inversion controllem were designed in both fast loop and relatively slow loop for decoupling control. Secondly, robust adaptive TLC control law was designed in relatively slow loop to compensate the uncertainty and disturbances of the whole system. The existing uncertainties and eliminate disturbances in the system were evaluated on-line by RBF neural networks to eliminate the effects of the uncertainties on the control system performance based on the trajectory linearization control. Then the approximation error was overcome by introducing a robust adaptive controller. Stability analysis demonstrates the ultimate boundedness of all the signals in the closed loop system. Finally, the simulation results verify the effectiveness of the control method.%基于动态逆控制及轨迹线性化方法,研究了一种新的导弹鲁棒自适应控制系统设计方法.首先,基于导弹的非线性模型设计快、较慢回路的动态逆控制器,以实现其非线性解耦;然后,在较慢回路中设计鲁棒自适应轨迹线性化控制器,以补偿整个控制系统的不确定性及干扰,即在轨迹线性化控制的基础上,通过设计RBF神经网络在线估计系统中存在的不确定性及外部干扰,以抵消其对控制性能的影响,并引入鲁棒自适应控制项,以克服逼近误差.稳定性分析表明,闭环系统所有信号一致最终有界.最后通过对所设计控制系统的仿真分析,验证了该方法的有效性.