飞行器自适应预设性能姿态控制设计

Aircraft Adaptive Prescribed Performance Attitude Control Design

预设性能控制是一类可以同时保证系统响应瞬态与稳态性能的非线性控制方法。针对具有非线性与未知干扰的飞行器系统,研究了一种无逼近预设性能姿态控制器设计方法,并进行了数值仿真验证。首先,研究了在传统预设性能方案中潜在的奇异性问题;其次,针对该问题提出了一种拥有自适应边界的预设性能函数改进方案。当归一化误差达到一定阈值时,通过放宽性能函数边界并使其重新收敛,确保跟踪误差被包覆,避免误差越界引起的奇异性,防止控制系统崩溃。最后,通过数值仿真验证改进方案的正确性与有效性。仿真结果表明,改进方案可以保证系统在存在误差越界的情况下姿态控制回路运行良好,并能满足预定的控制要求。

Prescribed performance control is a type of nonlinear control method that can ensure both transient and steady-state performance of the system response.This article studies an approximation-free prescribed performance attitude controller design method for aircraft systems with nonlinear and unknown disturbances,and a numerical simulation is performed.First,the potential singularity problem in traditional prescribed performance schemes is studied.Secondly,an improvement scheme of prescribed performance function with adaptive boundary is proposed to solve this problem.When the normalization error exceeds a certain threshold,the tracking error is guaranteed to be covered by relaxing the boundary of the performance function and making it converge again to avoid the singularity caused by the error crossing the boundary and prevent the control system from being damaged.Finally,the correctness and effectiveness of the improved scheme are verified by numerical simulation.The simulation results show that the improved scheme can ensure the attitude control loop to run well and meet the predetermined control requirements under the condition of error crossing.