飞行器自适应ESO姿态控制器设计

飞行器无动力再入过程中，姿态受到气动及不确定干扰影响，控制模型具有强耦合、大范围参数摄动等非线性特征。针对再入飞行器姿态控制问题，结合扩张状态观测器（Extended State Observer，ESO）和自适应控制律，基于奇异摄动理论将非线性姿态控制模型分为快慢两回路，分别设计了飞行器内环和外环自适应姿态控制器，并通过 Lyapunov 稳定性理论证明控制器的稳定性。仿真结果表明，控制系统在强干扰及参数大范围摄动的情况下，具有较强的鲁棒性，能够获取良好的动态品质和跟踪性能。

Design of Adaptive ESO Attitude Controller for Aircraft

During unpowered reentry, the attitude of the aircraft is affected by aerodynamic and uncertain disturbances. The control model has strong coupling, large range parameter perturbation and other nonlinear characteristics. In this paper, the nonlinear attitude control model is divided into fast and slow loops based on the singular perturbation theory by combining extended state observer (ESO) and adaptive control law. The stability of the controller is proved by the Lyapunov stability theory. The simulation results show that the control system has strong robustness and good dynamic quality and tracking performance in the case of strong disturbances and large range of parameter perturbations.