基于灰色补偿反步法的机动指令跟踪控制

基于三自由度飞行动力学模型和运动学模型,提出了一种带有灰色补偿的反步(Back-stepping)控制方法,以实现某些预定的战术机动动作。首先,将飞行动力学模型和运动学模型分解成3个轴方向的相对简单的子系统;然后,针对3个子系统采用反步法分别设计出模型中没有干扰时的控制律,并采用GM(0,N)预测模型对不确定部分的模型参数进行辨识,进一步根据估计出的参数设计灰色补偿控制律;最后,根据3个子系统设计出的控制律解算出同时满足3个子系统渐进稳定的控制输入,这样使得整个系统渐进稳定。仿真结果表明,GM(0,N)预测模型能精确预测不确定模型参数,该算法能够高效实现预定的战术机动动作。

Maneuvering command tracking control based on grey compensation Back-stepping method

Grey compensation Back-stepping method is proposed based on dynamic model of 3-DOF and kinematic model,aiming to achieve some scheduled tactical maneuvers.Firstly,the whole system is decomposed into three axial directions of relatively simple subsystems,and then the control law without interference in the model is designed by using Back-stepping method in these three subsystems,GM (0,N)prediction model is drawn upon to identify the uncertain parameters of the model.Furthermore,the grey compensation control law is designed according to the identified parameters.Finally,the control inputs of these three subsystems are calculated simultaneously according to the control law designed out of the three subsystems,which makes the whole system stable.Simulation results indicate that GM(0,N)prediction model is effective to predict the parameters and the proposed algorithm can accomplish the desired tactical maneuvers efficiently.