可重复使用飞行器的保性能姿态跟踪控制方法

针对可重复使用飞行器再入姿态跟踪控制问题，在考虑执行器饱和、气动参数摄动和外部扰动的情况下，提出了一种保性能姿态跟踪控制方案。通过构造预设性能函数，使姿态跟踪误差在预先设置的包络内演化，保证了系统的瞬态和稳态性能；其次，借助于高增益扩张状态观测器解决了气动参数摄动和外部扰动的问题；之后，基于反步控制框架，设计了一种低复杂度的输出反馈扰动补偿控制方法，保证跟踪误差的收敛性。与已有方法相比，所设计的方法不包含一些复杂的非线性动力学近似技术，如神经网络等，降低了参数调节的复杂性，且无需对虚拟控制律重复微分，避免了"微分爆炸"问题。同时，Lyapunov稳定性分析表明，该方法能够保证误差变量的预期收敛以及其他闭环系统信号的有界性。最后，通过对比仿真验证了所提方法的有效性及可行性。

A novel attitude tracking control with guaranteed performance for reusable launch vehicle

In this paper, a novel approach with guaranteed performance is presented for attitude tracking control of the reusable launch vehicle in presence of actuator saturation, parameter uncertainties and external disturbances. The prescribed performance function is introduced to allow the attitude tracking errors evolve in the prescribed envelopes, so as to ensure the transient and steady state behaviors of the system. The high-gain extended state observer is designed to estimate the system uncertainties and external disturbances. Then, with the backstepping control technology, a low-complexity output feedback tracking control method is proposed to achieve disturbance compensation and guarantee the convergence of the tracking errors. The difference of the proposed method from other existing works is that the complicated approximating technologies such as neural networks are not employed, which reduces the workload of parameter tuning. In addition, the method proposed in this paper eliminates the tedious recursive time derivatives of the virtual control signals in each step. Therefore, the problem of "explosion of terms" can be avoided. Lyapunov stability analysis shows that the proposed method can guarantee the expected convergence of the output tracking errors and the boundness of other closed-loop system signals. Simulation results verify the effectiveness and feasibility of the control method.