基于混合观测器的导弹有限时间收敛滑模姿态控制

Finite-time-convergent sliding mode control based on hybrid observer for missile attitude system

为了提高非匹配非线性干扰影响下导弹姿态控制系统的性能,提出了一种基于干扰-状态混合观测器的新型有限时间收敛滑模控制器。首先,基于观测器输出构建非奇异终端滑模面,保证非匹配干扰影响下的系统误差有限时间快速收敛;其次,采用时变观测增益设计,避免了传统固定观测增益可能带来的估计尖峰问题;再次,基于超扭曲算法,在避免传统滑模控制抖振问题的同时确保滑模面有限时间可达。仿真结果表明,所设计的控制器具备强鲁棒、快速收敛以及无尖峰的控制性能。

To improve the performance of missile attitude control system with the mismatched nonlinear disturbance, a new finite-time-convergent sliding mode controller based on disturbance-state hybrid observer was proposed. Firstly, a nonsingular terminal sliding surface was designed based on the output of the observer, which can guarantee the finite-time convergence of the system error under the influence of mismatched disturbance. Secondly, the time-varying observer gain was designed to avoid the estimated peak problem caused by traditional fixed observer gain. Thirdly, based on the super twisting algorithm, the chattering problem of the traditional sliding mode control was avoided, and the finite-time convergence of the sliding-mode surface can be achieved. Simulation results show that the controller has strong robust, fast convergence and peak-free control performance.