约束自适应反步法及其在飞行控制中的应用  

Constrained Adaptive Backstepping with Application to Flight Control

作　　者：张超 张胜修 刘毅男 曹立佳 

机构地区：[1]第二炮兵工程大学自动控制工程系,西安710025

出　　处：《控制工程》2014年第3期430-435,共6页Control Engineering of China

基　　金：国家自然科学基金项目(61203354)

摘　　要：为解决系统含有参数不确定性和(状态)执行器受限条件下的鲁棒自适应控制问题,将SISO系统指令滤波器推广到MIMO系统,提出一种基于指令滤波的自适应块控反步方法。在设计(虚拟)控制律时引入指令滤波器,在克服标准反步法虚拟控制律导数计算膨胀问题的同时,能够施加系统状态和执行器的限制条件,并通过引入扩展跟踪误差,有效解决了约束条件下参数估计过程的稳定性和跟踪误差收敛问题。给出了Lyapunov闭环稳定性证明,并将该方法应用于含有未知气动参数和输入饱和约束的飞行器非线性姿态控制器设计。6自由度飞行仿真表明,该控制器具有良好的指令跟踪能力和较强的鲁棒性。To solve the robust adaptive control problem of system with parametric uncertainties and constraints on states and actuators, the command filter for SISO system is extended for MIMO system and a command-filtered adaptive block backstepping method is pro- posed. The （virtual） control laws make use of command filters not only to overcome the term explosion of standard backstepping, but also to implement any constraints on states and input. And the effect of these operating constraints is estimated and used by updating laws through modified tracking errors？ to ensure a stable parameter estimation and tracking convergence when these limitations are in effect. The stability properties of the closed loop system is proved using Lyapunov theory. Furthermore, the proposed method is used to design the nonlinear attitude controller of an aerial vehicle with unknown aerodynamic parameters and input saturation. The results of 6- DOF flight simulations demonstrate good tracking performance and robustness of the controller.

关 键 词：反步法 非线性 约束 参数自适应 飞行控制 

分 类 号：V249.12[航空宇航科学与技术—飞行器设计]