宇航学报

宇航学报 ›› 2018, Vol. 39 ›› Issue (6): 656-663.doi: 10.3873/j.issn.1000-1328.2018.06.008

• 制导、导航、控制与电子 • 上一篇    下一篇

高超声速飞行器新型预设性能控制器设计

冯振欣，郭建国，周军   

  1. 西北工业大学精确制导与控制研究所，西安 710072
  • 收稿日期:2017-11-09 修回日期:2018-01-23 出版日期:2018-06-15 发布日期:2018-06-25
  • 基金资助:

    国家自然科学基金(61473226)

Novel Prescribed Performance Controller Design for a Hypersonic Vehicle

FENG Zhen xin, GUO Jian guo, ZHOU Jun   

  1. Institute of Precision Guidance and Control, Northwestern Polytechnical University, Xi’an 710072, China
  • Received:2017-11-09 Revised:2018-01-23 Online:2018-06-15 Published:2018-06-25

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摘要：

针对强不确定、多约束条件下高超声速飞行器的控制性能问题, 提出一种新型、同时保证高超声速飞行器瞬态响应和稳态性能的鲁棒预设性能控制器设计方法。首先, 设计一种新型、时变、对数型障碍Lyapunov函数, 结合动态面法, 在保证高超声速飞行器高度和速度子系统稳态跟踪误差精度的同时, 还能确保其收敛速度、超调量等瞬态响应性能；与传统的预设性能方法相比, 该方法无需误差转化, 降低了设计的复杂度。然后, 针对模型和外部扰动不确定问题, 设计了自适应、非线性干扰观测器对不确定的上界进行估计并引入控制律。此外, 还引入辅助误差子系统, 降低高超声速飞行器执行机构饱和对闭环系统的影响。最后, 通过Lyapunov稳定性理论证明了闭环系统所有状态均有界。仿真结果验校了本文控制器设计的有效性。

关键词: 高超声速飞行器, 预设性能, 时变障碍函数, 状态约束, 干扰观测器

Abstract:

 A novel prescribed performance controller is addressed for the longitudinal dynamics of a hypersonic vehicle with large uncertainties and multi-constraints in this paper. Firstly, both the transient and steady performance of the altitude and velocity tracking errors are guaranteed in the pre-selected bounds by utilizing the newly proposed time-varying barrier Lyapunov function-based dynamic surface control. Compared with the traditional prescribed performance technique, the proposed algorithm does not need error transformation and thus reduces the design complexity. Then, the upper bounds of the uncertainties are estimated and introduced into the control law by exploiting the adaptive nonlinear disturbance observer. In addition, an auxiliary error compensation design, which can alleviate the effectiveness of actuator saturations, is employed based on the compensated tracking error. Finally, the ultimately boundedness of the closed-loop system is rigorously ensured by the Lyapunov stability theorems. The numerical simulation results validate the effectiveness of the proposed method.

Key words: Hypersonic vehicle, Prescribed performance, Time varying barrier functions, State constraint, Disturbance observer

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