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针对再入滑翔飞行器存在时变非匹配不确定干扰的问题,设计了一种非线性扩张干扰观测器和新型双回路非奇异终端滑模控制律。首先将观测器状态变量扩张为干扰及其变化速率的估计值,再基于Lyapunov稳定性定理设计新型非线性干扰观测器;将再入飞行器系统方程分为姿态角外回路和姿态角速率内回路,分别设计具有干扰补偿作用的新型滑模面,以及能够有限时间收敛的非奇异终端滑模控制律。仿真结果表明,该方法可将传统非线性干扰观测器的估计精度提高约4%,控制系统跟踪误差得到明显降低,具有良好的动态特性。
Aiming at the problem of recursive gliding aircraft with time-varying non-matching uncertainties, a nonlinear expansion disturbance observer and a new double loop non-singular terminal sliding mode control law are designed. Firstly, the observer state variables are expanded to estimate the disturbance and its rate of change, and then a new type of nonlinear disturbance observer is designed based on the Lyapunov stability theorem. The equations of the reentry vehicle system are divided into the outer loop of attitude and the inner loop of attitude angular rate, The new sliding mode surfaces with interference compensation function and the non-singular terminal sliding mode control law with limited time convergence are respectively designed. The simulation results show that this method can improve the estimation accuracy of the traditional nonlinear disturbance observer by about 4%, and the tracking error of the control system is obviously reduced with good dynamic characteristics.