Fixed time trajectory tracking control of forward-tilting morphing aerospace vehicle
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摘要:
针对具有时变扰动的前倾转变体无人机轨迹跟踪控制问题，提出了一种基于浸入与不变(I&I)理论和固定时间收敛理论的非奇异终端滑模控制方案。融合动态尺度因子设计一种基于I&I的时变扰动观测器；构造一种分段式的固定时间非奇异终端滑模面，消除滑模面的奇异性，并使系统状态在固定时间内收敛到平衡点附近小邻域内，且收敛时间的上界与系统的初始状态无关；基于Lyapunov稳定性理论证明系统的全局固定时间稳定性，并给出其收敛时间的上界。在2种实验场景下验证了所提控制方案的有效性和优越性。与传统的控制方法相比，所提控制方案使系统的收敛速度更快，抗扰动能力更好。
Abstract:In view of the trajectory tracking problem of the forward-tilting morphing aerospace vehicle with time-varying disturbance, a non-singular terminal sliding mode control scheme based on immersion and invariance (I&I) theory and fixed time convergence theory was proposed. Firstly, a time-varying disturbance observer based on I&I was designed by combining dynamic scale factors. Secondly, a segmented fixed-time non-singular terminal sliding surface was constructed, which eliminated the singularity of the sliding mode surface and made the system state converge to any small neighborhood of the equilibrium point within a fixed time, and the upper bound of the convergence time had nothing to do with the initial state of the system. Finally, based on the Lyapunov stability theory, the global fixed-time stability of the system was proven, and the upper bound of its convergence time was given. The effectiveness and superiority of the proposed control scheme were verified in two experimental scenarios. Compared with the traditional control method, the control scheme proposed in this paper made the system converge faster and has better anti-disturbance ability.
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图 1 前倾转变体无人机受力分析及坐标系建立
Figure 1. Force analysis and coordinate system establishment of forward-tilting morphing aerospace vehicle
图 2 前倾转变体无人机飞行模式切换
Figure 2. Flight mode switching of forward-tilting morphing aerospace vehicle
图 4 不同初始状态下的三维轨迹跟踪效果
Figure 4. Three-dimensional trajectory tracking effects in different initial states
图 5 位置子系统的轨迹跟踪误差收敛情况
Figure 5. Trajectory tracking error convergence of position subsystem
图 6 4种方法的三维轨迹跟踪效果
Figure 6. Three-dimensional trajectory tracking effects of four methods
图 11 多源时变扰动下的轨迹跟踪误差
Figure 11. Trajectory tracking error under multi-source time-varying disturbances
图 12 4种方法的虚拟控制输入信号响应
Figure 12. Virtual control input signal responses of four methods
图 14 2种方法对时变扰动的估计效果
Figure 14. Estimation effects of two methods on time-varying disturbances
图 15 6个控制通道动态尺度因子ri的自适应过程
Figure 15. Adaptive process of dynamic scale factor ri of six control channels
图 16 6个控制通道动态尺度误差zi的自适应过程
Figure 16. Adaptive process for dynamic scale error zi of six control channels
图 17 4种方法的机翼与机身夹角θf自适应响应过程
Figure 17. Adaptive response process of angle between wing and fuselage of four methods
表 1 3种初始状态的选取
Table 1. Selection of three initial states
m 状态 x(0) y(0) z(0) ϕ(0) θ(0) ψ(0) 1 1.5 −0.5 −1.5 0 0 0 2 −2.5 −0.5 −1.5 0 0 π/6 3 2 −0.5 1 0 0 π/3 
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