带有执行器约束条件的模糊自适应反步控制

针对高超声速飞行器在飞行控制过程中存在外界干扰以及考虑执行器的动态特性等问题,结合飞行器纵向模型的特点,考虑舵的动态特性,分别设计了基于动态逆的速度控制器和基于指令滤波器采用Backstepping控制方法的高度控制器。模糊自适应系统用来在线辨识飞行器模型由于气动参数的变化而引起的不确定性。运用Lyapunov理论分析闭环系统的稳定性,证明了包含跟踪误差在内的所有信号满足半全局一致稳定。最后通过仿真对控制器的控制效果进行验证,得到了较为满意的控制效果。

Fuzzy Adaptive Backstepping Control with Actuator Constraints

Aiming at the problems of the external disturbance and the dynamic characteristics of the actuator in the flight control process of hypersonic vehicle, the speed controller based on the dynamic inversion and the height controller based on the command filter with backstepping control method are proposed respectively, combining with the features of the longitudinal model of the aircraft and the dynamic characteristics of the rudder. The fuzzy adaptive system is used to identify the uncertainties caused by changes in aerodynamic parameters of the aircraft model on-line. The Lyapunov theory is utilized to analyze the stability of the closed-loop system, and it is proved that all the signals including the tracking error are semi-global uniformly ultimately bounded (SGUUB). Finally, the effectiveness of the controller is verified by simulation.