基于收缩理论的高超声速飞行器控制

为了使高超声速飞行器能够跟踪预定指令,针对其严反馈模型提出了基于收缩理论的控制方法。由于高度和速度相对独立,因此分开设计控制器。控制器设计过程中,以基于反步法的收缩理论为核心,对于模型中不确定项利用自适应进行在线识别;引入动态面对虚拟控制输入进行求导,并利用收缩下的奇异摄动分析降阶系统,可以证明降阶前后状态误差间的偏差及滤波误差有界。采用此方法,可证明系统状态半全局收敛,跟踪误差及自适应估计误差有界。

Contraction theory-based control for hypersonic vehicle

In order to track a predetermined instruction for the hypersonic vehicle,a control method was proposed for its strict feedback model based on the theory of contraction.Due to the relative independence of attitude and speed subsystems,controllers was designed separately.During the design process,on the basis of the contraction theory,adaptive control was adopted to identify the model uncertainty online.Moreover,the contraction-based singular perturbation analysis is used to reduce the subsystem dynamics.By analyzing the contraction-based robustness of the hierarchical interconnection of the subsystems,it can be proved that the differences of the state errors between the original and the reduced subsystems and the differences of the filters are explicitly bounded.With this method introduced,the total system state of the hypersonic vehicle can converge to a ball centered about the desired trajectory semiglobally.