宇航学报

宇航学报 ›› 2022, Vol. 43 ›› Issue (1): 103-110.doi: 10.3873/j.issn.1000-1328.2022.01.012

• 制导、导航、控制与电子 • 上一篇    下一篇

高超声速飞行器无在线求导backstepping控制方法

路遥，贾志强，刘晓东，路坤锋   

  1. 1. 宇航智能控制技术国家级重点实验室，北京 100854；2. 北京航天自动控制研究所，北京 100854
  • 收稿日期:2021-09-10 修回日期:2021-10-08 出版日期:2022-01-15 发布日期:2022-01-15
  • 基金资助:
    国家自然科学基金青年基金（61803357）

Backstepping Control for Hypersonic Vehicles without Online Differentiation

LU Yao, JIA Zhi qiang, LIU Xiao dong, LU Kun feng   

  1. 1. National Key Laboratory of Science and Technology on Aerospace Intelligence Control, Beijing 100854, China;2. Beijing Aerospace Automatic Control Institute, Beijing 100854, China
  • Received:2021-09-10 Revised:2021-10-08 Online:2022-01-15 Published:2022-01-15

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摘要： 针对高超声速飞行器纵向通道跟踪控制问题，提出一种无需对虚拟控制量进行在线求导的新型backstepping控制方法。首先将飞行器动力学模型划分为速度子系统和航迹倾角子系统，然后采用backstepping方法设计航迹倾角子系统控制器，利用高阶微分器技术直接设计虚拟控制量一阶导数的控制律，这样即避免了现有backstepping方法中求取虚拟控制量一阶导数时存在的“复杂性爆炸”问题，同时能够简化控制器结构，减少待设计控制器参数数目。另外，采用跟踪微分器技术设计了不确定项观测器以实现对模型中各类不确定项的估计，进而提高控制器的跟踪精度。最后，采用Lyapunov理论证明了闭环系统的稳定性，并通过对比仿真实验验证所提方法的有效性。

关键词: 高超声速飞行器, 跟踪控制, 反步法, 复杂性爆炸, 高阶微分器, 不确定项估计

Abstract: Aiming at the tracking control problem of the longitudinal channel of the hypersonic vehicle, a novel backstepping control method without online differentiation is proposed. Firstly, the vehicle dynamical model is divided into velocity subsystem and flight path angle (FPA) subsystem, and then the controller design for FPA subsystem is devised by adopting the backstepping method. The high order differentiator technique is utilized to construct the control law of the first derivative of the virtual command directly, which can avoid the “explosion of complexity” problem in existing backstepping method when calculating the first derivative of the virtual command. Meanwhile, this novelty can simplify the controller’s structure and decrease the number of controller’s parameters to be designed. Moreover, utilizing the tracking differentiator technique, some uncertainty observers are developed to accomplish the estimations of various model uncertainties for improving the controller’s tracking accuracy. Finally, the stability of the closed loop system is proved via the Lyapunov theory, and the effectiveness of the proposed method is verified through a comparative simulation experiment.

Key words: Hypersonic vehicle, Tracking control, Backstepping, Explosion of complexity, High order differentiator, Uncertainty estimation

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