基于复合抗饱和策略的火星飞机自适应控制

Adaptive Control of Mars Aircraft Based on Compound Anti-Saturation Strategy

目前,伴随着火星探测的兴起,火星飞机越来越受重视。目前对火星大气研究不充分,火星飞机飞行环境特殊,存在强烈的不确定性和干扰。同时稀薄的火星大气与受限的飞机尺寸限制了操纵的机构控制能力。为了解决这2个关键问题,提出了一种基于复合抗饱和策略的自适应控制器,将模型误差、不确定性和干扰视为系统的"总和扰动",利用扩张状态观测器观测并加以补偿。针对控制能力受限带来的控制饱和,提出伪控制限制与基于误差补偿的扩张状态观测器抗饱和方案相结合的复合抗饱和策略。仿真结果表明,该控制方法能较好地完成指令跟踪,并有效抵制不确定性和干扰影响,效果良好,有效改善了控制饱和带来的响应迟滞等现象,使系统具有较强的抗饱和特性。

At present, with the rising of Mars exploration, Mars aircraft is focused increasingly. Due to the lack of atmospheric research on Mars and special flying environment of the Mars aircraft, there are also strong uncertainty and inteorerence. The control of the control mechanism is determined by the thin Mars at- mosphere and the limited size of the aircraft. In order to solve these two key problems, an adaptive controller based on compound anti-saturation strategy is proposed. The model errors, uncertainties and disturbances are considered as sum disturbances of the system, which are observed and compensated by using the extended state observer. Aiming at the control saturation caused by the limitation of control ability, a compound anti- saturation strategy which is combining pseudo-control hedging with anti-saturation scheme based on extend- ed state observer is proposed. The simulation results show that the instruction can be tracked and theinfluence of uncertainty and intelference can be resisted effectively by using the proposed control method. The compound anti -saturation strategy has good effect and can improve the response hysteresis caused by the control saturation. Thus, the system has a strong anti -saturation characteristics.