具有输出边界保护的飞行器姿态控制律设计

Attitude control law design for a flight vehicle with output boundary protections

针对飞行器姿态控制问题,综合反步法和自适应控制理论设计了飞行器姿态控制律,采用高通滤波器估计控制律中所需的控制信号时间导数,解决了常规反步法存在的需要解析或数值求导的问题.基于投影算子方法设计了输出边界保护控制律,使飞行器输出响应不超过由超椭圆曲线定义的控制边界,在多变量控制下使控制边界匹配实际边界.根据Lyapunov稳定性理论证明了完整控制律的闭环稳定性,解决了高通滤波器与闭环系统稳定性的耦合问题.通过数值仿真检验了姿态控制律的控制性能,仿真结果表明飞行器闭环系统具有良好的俯仰角指令跟踪和协调转弯指令跟踪性能,并实现了迎角和侧滑角的输出边界保护.

An attitude control law is developed for a flight vehicle using backstepping and adaptive control methods.High-pass filters are used to estimate the time derivatives of control signals required in the control law.This approach reduces the need for analytical or numerical time derivatives of control signals in traditional backstepping controllers.Furthermore,an output boundary protection control law is designed using the projection operator method,with superellipse curves defining control boundaries to match specified boundaries in multivariable controls.To demonstrate the stability of the closed-loop system governed by the proposed control law,Lyapunov stability theories have been applied.Additionally,the technical issue of coupling between highpass filters and the stability of the closed-loop system has been resolved.Numerical simulations are carried out to assess the control performance,and the results show that the proposed control law achieves the desired pitch command tracking and turn coordination command tracking performance for the vehicle,along with meeting the output boundary protection requirements for the angle of attack and angle of sideslip.