高超声速飞行器全局有限时间姿态控制方法

以高超声速飞行器6自由度模型为研究对象，设计了一种基于终端滑模的全局有限时间姿态控制方法。在控制器设计中，通过动态逆实现对俯仰、偏航和滚转通道的解耦处理。在考虑模型不确定性和外部干扰的情况下，终端滑模变结构控制方法用于保证系统的鲁棒性。同时，通过改进指数趋近律，实现闭环系统在滑模面趋近阶段和沿滑模面滑动阶段均是有限时间收敛的。基于李雅普诺夫稳定性理论，控制器的全局有限时间收敛特性得到证明。仿真实验结果验证了高超声速飞行器全局有限时间姿态控制方法的有效性。 

Attitude control method within finite time globally for hypersonic vehicles

Taking six degrees of freedom model of a generic hypersonic vehicle as the research object, this paper proposes a terminal sliding mode attitude control method which can converge to the equilibrium point within finite time globally. In the design of the controller, dynamic inversion is applied to deal with strong couplings among pitch angle, yaw angle and roll angle. In the case of considering the model uncertainties and external disturbances, the terminal sliding mode variable structure control method is used to guarantee the robustness of the system. In addition, by improving the traditional exponential approach law, the control command can be tracked within finite time globally. Based on the Lyapunov stability theory, it is proved that the finite time convergence in both reaching and sliding phases can be achieved. Finally, simulation results demonstrate that the proposed attitude control method is efficient.