制导炮弹非线性鲁棒自适应控制系统设计

Design of a Nonlinear Robust Adaptive Controller for Guided Projectiles

针对制导炮弹非线性模型存在参数不确定性、建模误差和外界干扰的特点,基于动态面设计了制导炮弹的鲁棒自适应控制器,在设计过程中加入了一阶低通滤波器,得到虚拟控制量的微分,从而消除传统反步法中"计算膨胀"的难题。针对模型的不确定参数的影响采用鲁棒函数抵消,并通过非线性阻尼项消除外界扰动,最后由Lyapunov方法证明该闭环系统为半全局稳定。该设计方法较为简单,在有效利用已知信息的前提下,放宽了不确定项的限制条件,且跟踪误差可以通过控制器的可调参数加以调整。仿真结果证明了该方法的有效性。

Since the nonlinear model of guided projectile has uncertain aerodynamic parameters,modeling errors and external input interference,a robust adaptive controller was designed for the guided projectile based on dynamic surface .The problem of “explosion of complexity” in traditional backstepping approach was solved by introducing the first-order low pass filters and obtaining the differential of the virtual control inputs.The effect of uncertain parameters of the model was cancelled out by the robust function,and the external disturbances was eliminated with the nonlinear damping items .Finally,the closed-loop system was proved by Lyapunov function to be semi-global stability .The design method is simple and the limiting conditions of uncertainty was relaxed while making effective use of the given information,and the trajectory error can be adjusted by the parameters of controller .Simulation results show the availability of this method .