机动滑翔飞行器的自抗扰反步高精度姿态控制  

Design of active disturbance rejection backstepping attitude controller for maneuvering glide vehicles

作　　者：李菁菁[1] 任章[1] 曲鑫[1] 

机构地区：[1]北京航空航天大学控制一体化技术国家重点实验室,北京100191

出　　处：《系统工程与电子技术》2010年第8期1711-1715,1721,共6页Systems Engineering and Electronics

基　　金：国家自然科学基金重大研究计划(90916003)资助课题

摘　　要：从分析一种新型的临近空间机动滑翔飞行器的自身特点出发,将反步法和扩张状态观测器相结合,提出自抗扰反步姿态控制器的结构。通过改进的反步法设计标称模型的非线性控制,避免了内外环分离的假设,同时能够处理不匹配的不确定性。通过在反步法中引入指令滤波器和修正误差信号,使得伪控制量的导数可以轻易获得,简化了设计。利用非线性扩张状态观测器实时准确地估计大的快变的不确定性,并进行控制补偿,使控制器的鲁棒性和性能得到了很大提高。最后,对大飞行跨度的机动姿态控制进行了六自由度仿真验证,结果表明,自抗扰反步姿态控制器能够实现高精度指令跟踪。This paper presents a nonlinear flight attitude control law for a novel near space maneuvering glide vehicle.An active disturbance rejection back-stepping controller integrating back-stepping method and extended state observer is developed.The loop separation and matched uncertainties assumptions are removed when using back-stepping control upon a nominal nonlinear system.By introducing a command filter to modify back-stepping control,the derivatives of virtual control are easy to obtain that greatly facilitates control design.In addition,the nonlinear extended state observer is applied to estimate and compensate uncertainties in real time,thus improving both robustness and performance.To evaluate the proposed control method,numerical simulations and comparisons are performed using six-degree of freedom nonlinear dynamics.

关 键 词：非线性控制 反步法 扩张状态观测器 鲁棒性 

分 类 号：V249[航空宇航科学与技术—飞行器设计]