导弹姿态的自抗扰有限时间控制

Auto disturbance rejection of finite time controller for the control of missile's attitude

针对导弹模型同时具有不确定性和执行机构饱和受限的问题,首先针对模型不确定性,将质心运动方程的非线性影响、耦合影响、外部环境干扰视为总干扰,并设计扩展状态观测器对其进行实时估计;然后针对舵偏角和角速度存在饱和受限的问题,设计辅助系统和限幅微分器;最后结合反演和有限时间稳定系统理论,设计有限时间控制器,以保证整个闭环系统在受限条件下能收敛到参考信号.数值仿真结果表明,所设计的控制器与理论分析结果一致,是可行而有效的.

The model of missile exists uncertainty and actuator saturation limited. For the uncertainty of model, the nonlinear impact, coupled influence and external environmental disturbances are treated as the total disturbance, and the extended state observers are designed to estimate this total interference. For the actual rudder angle and the angular velocity system limitations, the auxiliary systems and the limiter differentiator are designed. Finally, based on the back-stepping and finite time control theory, a finite time controller is designed to ensure that the entire closed-loop system under limited conditions can converge to the reference signal. The numerical simulation results show that the designed controller is consistent with the theoretical analysis.