Robust adaptive control for hypersonic vehicle based on dynamic inversion
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摘要: 针对高超声速飞行器运动学模型具有高度非线性、多变量耦合及参数不确定等特点,提出了一种基于非线性动态逆的控制系统鲁棒自适应控制器设计方法.该方法将飞行器的运动方程分成速度子系统和高度子系统,利用控制输入的功能分配,并结合虚拟控制指令设计与非线性动态逆技术,实现速度和高度的稳定跟踪.为消除系统中模型不确定性和外界干扰的影响,采用鲁棒自适应滑模控制策略进行补偿.仿真结果表明:所提出的控制器设计方法不仅满足飞行器速度与高度跟踪性能的要求,且对模型不确定性和外干扰具有一定的鲁棒性.Abstract: For the feature that hypersonic vehicle motion model is highly nonlinear, multivariable coupled and includes uncertain parameters, a robust adaptive control strategy based on nonlinear dynamic inversion for the hypersonic vehicle was proposed. By decomposing the vehicle motion equations into two subsystems, namely, a velocity subsystem and an altitude subsystem, and incorporating the design of virtual control commands and nonlinear dynamic inversion technology, the stable velocity and altitude tracking were achieved. To eliminate the effect of the model uncertainties and external disturbances, the robust adaptive sliding mode control method was adopted. Simulation results show that the proposed method not only satisfies the velocity and altitude tracking performance requirements, but also is robust to model uncertainties and external disturbances.
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