高超声速飞行器指令滤波反演控制

针对含有不确定扰动项的吸气式高超声速飞行器纵向非线性模型，提出了一种基于指令滤波器的反演控制方法。将飞行器动力学模型划分为航迹角子系统和速度子系统并表示为严格反馈形式，采用动态逆方法设计反演控制中每步的虚拟控制量，并对指令滤波过程中产生的误差进行补偿。利用指令滤波器获取虚拟控制量的一阶导数，解决了反演控制方法中的“微分项膨胀”问题，同时引入虚拟控制量和实际控制量的幅值、速率和带宽约束。采用扩展状态观测器(ESO)对模型中的不确定项进行估计和补偿，保证闭环系统在存在参数不确定和外部扰动的情况下仍具有良好的控制性能。仿真结果表明，在飞行器总体参数和气动参数存在偏差的情况下，该方案能够实现对速度和航迹角参考信号的稳定跟踪。

Command Filtered Backstepping Control for Hypersonic Vehicle

Considering an air-breathing hypersonic vehicle longitudinal nonlinear model containing uncertain perturbation term, a backstepping controller is designed based on command filter. The vehicle model is decomposed as flight-path angle subsystem and velocity subsystem and is translated into the strict feedback form. Dynamic inversion method is used in the backstepping design of virtual control variable of each step, and the errors generated in the process of command filtering are compensated. Command filter is utilized to obtain the first derivative of virtual variable, which solves the explosion of differentiation terms problem in backstepping control and introduces the amplitude, rate and bandwidth constraints of virtual control variable as well as actual control variable. The extended state observer (ESO) is put forward to estimate and compensate the uncertain items in the model, which guarantees that the close-loop system possesses good control performance in existence of parameter uncertainty and external disturbance. Simulation results demonstrate that the velocity and flight-path angel reference signals can be tracked stably by using the designed controller in the presence of deviations of the vehicle general and aerodynamic parameters.