基于状态观测器的高超音速飞行器动态面反步控制

The Dynamic Surface Backstepping Control Based on State Observer for a Hypersonic Vehicle

针对高超音速飞行器严格反馈不确定非线性MIMO系统,考虑系统状态不可完全测量的问题,提出一种基于状态观测器的反步控制方法。该方法在系统具有不确定项的情况下,充分利用角速率信号和系统建模信息设计滑模观测器,实现对高超音速飞行器气流角的估计,并通过理论推导出了观测器的收敛条件和观测器增益矩阵的计算方法;基于反步法设计气流角跟踪控制律,分别采用指令滤波和动态面方法得到气流角指令和虚拟控制量的一阶导数,以Lya-punov方法证明闭环系统跟踪误差最终有界收敛。仿真结果表明,在系统存在不确定项且气流角不可测的条件下,所设计方法依然可以实现气流角的稳定跟踪。

To solve the control problem of a general hypersonic vehicle, which is a strict-feedback nonlinear uncertain MIMO system, a backsetpping control strategy based on state observer is proposed by considering the states that can not be measured. The sliding mode state observer is designed by using angle speed and the information of model, which can estimate airflow angle of the hypersonic vehicle. Astringency is guaran- teed and observer plus matrix is obtained theoretically. A nonlinear control law is designed based on back- stepping control technique. The derivatives of command and virtual control item are achieved via command filter and dynamic surface respectively. The theoretical analysis is done to validate that the system is uni- formly ultimately bounded. The simulation results show that the developed method is effective and can solve the problem of uncertain factors preferably.