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针对离线预测控制忽略各个因素对控制律的影响程度,将系统状态变量一维子空间对应的单因素控制量序列进行融合计算,设计了高超声速飞行器的单因素融合鲁棒预测控制器。针对系统的一维子空间离线生成单因素椭圆不变集序列和相应的控制量序列。在线时,在单因素椭圆不变集中分别搜索包含当前状态的最小椭圆,根据当前状态对控制序列进行融合得到控制律。仿真结果表明,相比于传统离线鲁棒预测控制算法,该方法能实现对高度和速度指令的快速、精确跟踪;相比于在线鲁棒预测控制算法,在线计算时间大大减少,实现了对高超声速飞行器的实时控制。
In order to avoid the influence of various factors on the control law, the offline predictive control is fused to calculate the single-factor control sequence corresponding to the one-dimensional subspace of the system state variables, and the single factor fusion robust predictive controller of the hypersonic vehicle is designed. The one-dimensional elliptic invariant set sequence and the corresponding control sequence are generated offline for one-dimensional subspace of the system. When online, the minimum ellipse containing the current state is separately searched for the single-factor elliptic invariant concentration, and the control law is obtained by fusing the control sequences according to the current state. The simulation results show that this method can achieve fast and accurate tracking of altitude and velocity commands compared to the traditional offline robust predictive control algorithm. Compared with the online robust predictive control algorithm, the online computation time is greatly reduced, Real-time control of supersonic aircraft.