基于干扰补偿的导弹增量式动态逆容错控制方法

针对导弹飞控系统存在外部干扰、执行机构故障等问题，本文运用一种鲁棒增量式动态逆被动容错控制方法，以避免主动故障诊断带来的计算效率问题，同时实现飞行姿态的可靠安全控制。针对外部干扰及执行机构故障等控制系统不确定性，建立导弹三通道姿态控制模型，基于干扰观测器对不确定性进行估计与补偿设计终端滑模控制律。为进一步增强导弹姿态控制系统的鲁棒性，给出导弹增量式动态逆容错控制律，结合终端滑模控制设计干扰补偿的增量式动态逆终端滑模控制律，并对系统残差进行分析比较。某典型全弹道姿态跟踪任务仿真表明，该方法在故障未知的情况下仍然保持姿态跟踪特性与容错能力，实现导弹姿态鲁棒精准快速控制。

Disturbance Compensation-Based Incremental Dynamic Inversion Fault-Tolerant Control for Missiles

Considering that the external disturbance and the actuator failures exist in the missile flight system, this paper employs a robust incremental nonlinear dynamic inversion-based passive fault tolerant control method, not only to avoid the computational burden caused by active fault diagnosis but to realize safety and reliability of the control algorithm. For system uncertainties such as external disturbance and actuator failures, the missile three-channel attitude control model is given, and a terminal sliding mode control law is designed with the uncertainties estimated and compensated by a disturbance observer. To further enhance robustness of the missile attitude control system, a missile incremental dynamic inversion robust attitude control law is established and combined with the terminal sliding mode controller based on disturbance observer to construct the robust fault tolerant control law. Afterward, the residuals of the control systems are contrasted and the typical attitude tracking simulation shows that the employed controller can maintain the control performance and fault tolerant ability without fault information, ensuring robustness and precision of missile attitude control.