基于滑模干扰观测器的反演终端滑模飞行控制

Backstepping terminal sliding mode flight control based on sliding mode disturbance observer

针对某战斗机机动飞行时强耦合、气动参数和力矩干扰不确定非线性模型,提出了一种基于滑模干扰观测器的滑模反演控制方法。将飞机非线性动力学模型分解为角度回路和角速度回路并表示为严格反馈形式,分别采用反演和快速终端滑模方法设计虚拟控制律与实际控制律。结合滑模微分器获取虚拟控制律的导数,避免计算复杂性问题,并基于滑模微分器设计干扰观测器,实现对模型不确定性的有效估计和补偿。仿真结果表明,该控制方法对气动参数摄动和力矩干扰不确定性具有鲁棒性,能够实现对参考轨迹的稳定跟踪。

A sliding mode backstepping controller based on the sliding mode disturbance observer is proposed for maneuver flight with the characteristics of nonlinearity,strong couplings,aerodynamic parameters and moment disturbances.The nonlinear dynamic model is decomposed as the angular loop and the angular velocity loop,and is expressed as a strict feedback form.The virtual control law and the actual control law are designed based on the design procedures of backstepping control and fast terminal sliding mode control.The explosion of complexity is avoided by combining with the sliding mode differentiator to obtain the derivatives of virtual control laws.A disturbance observer based on the sliding mode differentiator is introduced to estimate and compensate the model uncertainties.Simulation results demonstrate the effectiveness of the proposed control scheme in tracking reference command in the presence of aerodynamic parameters and moment disturbances.