基于Backstepping的近空间飞行器鲁棒自适应姿态控制  

Robust Adaptive Control for Attitude System of Near Space Vehicle via Backstepping Method

作　　者：张强[1,2] 吴庆宪[1] 姜长生[1] 王玉惠[1] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]济南大学自动化与电气学院,济南250022

出　　处：《南京航空航天大学学报》2013年第5期590-598,共9页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：国家自然科学基金(91116017;11102080)资助项目;中央高校基本科研业务费专项资金(NS2010077;NP2011049)资助项目;山东省自然青年科学基金(ZR2012FQ030)资助项目

摘　　要：针对近空间飞行器(Near space vehicle,NSV)姿态系统,在考虑复合干扰情况下,以其拥有良好的控制性能及强鲁棒性为目标,提出基于回馈递推(Backstepping)的控制策略。首先,采用一种自适应干扰估计算法,以提高干扰估计的准确性。其次,为避免backstepping设计中的"微分膨胀问题",设计一个快速收敛的非线性微分器,实现快速估计期望角速率的微分信号。然后,将自适应干扰估计算法、快速收敛的非线性微分器和backstepping方法相结合,设计不确定NSV姿态系统的复合控制器,其中构造鲁棒项减少干扰估计误差对系统跟踪性能的影响,并利用输入输出有界理论证明了闭环NSV系统的稳定性。最后,仿真结果表明所提出方法具有良好的跟踪控制性能和鲁棒性能。A robust adaptive backstepping control scheme is proposed,aiming at the attitude system of near space vehicle with compound disturbances,which needs the good control performance and the strong robustness in the flight.Firstly,an algorithm of disturbance approximation is presented for improving the accuracy of disturbance approximation.Secondly,a rapid-convergent nonlinear differentiator is proposed for avoiding differential expansion problem in the procedure of the backstepping design and is used to rapidly estimate the differential of the desired angular rate.Then,the design of compound controller is given through the algorithm of disturbance approximation,the rapid-convergent nonlinear differentiator and the backstepping method,in which the robust terms can offset the impact of the approximation errors.The closed-loop stability is proved by input and output bounded theory.Finally,the simulation results show the good tracking control performance of the proposed scheme.

关 键 词：近空间飞行器 干扰估计 非线性微分器 回馈递推 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TP293.2[自动化与计算机技术—检测技术与自动化装置]