变形飞行器输出误差受限与输入饱和控制方法  

Attitude control scheme for morphing vehicles with output error constraints and input saturation

作　　者：陈浩岚 王鹏[1] 汤国建[1] CHEN Haolan;WANG Peng;TANG Guojian(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学空天科学学院,长沙410073

出　　处：《航空学报》2023年第15期400-411,共12页Acta Aeronautica et Astronautica Sinica

摘　　要：研究了高超声速变形飞行器在考虑输出误差受限与输入饱和条件下的姿态控制问题。首先建立了考虑不确定性的动力学模型,基于双曲正切函数与辅助系统得到了面向输入饱和的控制系统,并设计了转换误差使系统能在更为宽松的收敛条件下实现输出误差受限控制。然后,基于模糊逻辑系统及有限时间理论设计了模糊干扰观测器(FDO),使系统对干扰的估计误差能在有限时间内收敛至原点。接下来设计了反步法控制系统,并基于Lyapunov稳定性理论证明了在考虑输出误差受限与输入饱和约束下的闭环系统收敛性。最后通过数学仿真验证了所设计方法的有效性。The attitude control problem of hypersonic morphing vehicles considering output error constraints and input saturation is investigated.Firstly,the dynamic model with uncertainties is established,and the input-saturationoriented control system is derived based on hyperbolic tangent function and auxiliary system.The transformed error is then designed for the system to facilitate output error constraints under more relaxed convergency conditions.Then,the Fuzzy Disturbance Observer(FDO)is designed based on fuzzy logic system and finite-time theory,which enables the estimation error of disturbance converging to the origin in finite time.Subsequently,the back-stepping control scheme is proposed and the convergency of the closed-loop system with output error constraints and input saturation is ensured via Lyapunov synthesis.Finally,numerical simulation results are presented to demonstrate the effectiveness of the designed control scheme.

关 键 词：变形飞行器 输出误差受限 输入饱和 模糊干扰观测器 模糊逻辑系统 有限时间理论 

分 类 号：V11[航空宇航科学与技术—人机与环境工程]