轨控式复合控制导弹制导与控制一体化反步设计

Integrated Guidance and Control Backstepping Design for Blended Control Missile Based on NDO

针对轨控式复合控制导弹制导与控制一体化设计问题,结合动态面反步设计和非线性干扰观测器(NDO)技术,设计了一种基于非线性干扰观测器的制导控制一体化反步控制方法。首先建立了复合控制导弹纵向通道制导控制一体化模型,在此基础上分三步设计反步控制器,设计过程中采用了动态面方法,通过引入一阶低通滤波器,得到虚拟控制量的微分,避免了传统反步设计中的"计算膨胀"问题,同时采用NDO对模型不确定性进行估计并加以补偿,实现了对气动系数摄动和目标机动的鲁棒性。基于李亚普诺夫稳定性理论证明了闭环系统所有误差信号最终一致有界。仿真结果表明本文设计的基于非线性干扰观测器的复合控制导弹制导控制一体化反步设计方案的正确性和有效性。

Based on nonlinear disturbance observer（NDO）,a new backstepping controller is proposed for the problem of integrated guidance and control for blended control missiles.The new backstepping controller is designed in three steps for the pitch channel model of integrated guidance and control.The dynamic surface control strategy is employed to eliminate the ＂computation explosion＂ by introducing a first-order filter to obtain the differential of virtual control inputs.Nonlinear disturbance observers are adopted to compensate for the uncertainties in the system,and make the system robust to target manenver and aerodynamic parameter perturbation.By using the Lyapunov stability theorem,it is proved that all signals in the closed loop system are ultimately bounded.Finally,Simulation results demonstrate the superiority and effectiveness of the control scheme.