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针对高超声速飞行器弹性体模型,提出了一种基于改进的反正切跟踪微分器(MATD)的鲁棒反演控制器。将控制系统分为高度和速度子系统,采用反演方法设计虚拟控制量和实际控制量。引入MATD对高阶系统虚拟控制量求导,避免了传统反演方法“微分膨胀”的问题。基于MATD设计干扰观测器,对模型不确定项进行精确估计,增强了控制器的鲁棒性。最后,通过实例仿真验证,该控制器对速度和高度指令具有很好的跟踪效果,且具有较强的鲁棒性。
For the hypersonic model of hypersonic vehicle, a robust inversion controller based on improved arc tangent tracking differentiator (MATD) is proposed. The control system is divided into height and speed subsystems, and the inversion method is used to design the virtual control volume and the actual control volume. Introducing MATD to derive the virtual control of high-order system avoids the problem of the traditional inversion method “differential expansion ”. Based on the MATD design disturbance observer, the uncertainty of the model is estimated accurately, which enhances the robustness of the controller. Finally, the simulation results show that the controller has a good tracking of the speed and altitude commands, and has strong robustness.