欠驱动变质心飞行器的滚偏耦合自抗扰控制

针对单滑块滚控式变质心飞行器的欠驱动问题，提出基于自抗扰思想的控制器，利用横向配置单滑块实现指令滚转角跟踪和侧滑角镇定控制。应用质点系动量矩定理建立了系统姿态动力学模型，分析表明，滚转和偏航通道拥有同一控制输入，且存在滑块惯性和运动耦合，滑块横向偏移会影响偏航通道。为此，设计自抗扰控制（ADRC）器进行滚偏耦合控制，将模型误差、滑块耦合和不确定干扰视作总和扰动，对滚转角跟踪子系统和侧滑角镇定子系统同时进行状态观测和总和扰动动态补偿，该控制器能够较好地抵抗系统内外干扰，且结构简单、易于实现。摄动仿真结果验证了所提控制器的有效性和鲁棒性。 

AD RC-based roll-yaw coupling control of underactuated moving mass flight vehicles

Considering the underactuated problem of flight vehicles with single moving mass roll control system, this paper proposes a controller based on the idea of active disturbance rejection, which achieves the command roll angle tracking and sideslip angle stabilization control only with the laterally configured single moving mass. The system attitude dynamics is modeled based on the momentum theorem of particle system, analysis shows that the roll and yaw channels share the same control input and are coupled by moving mass inertial and movement terms, and the lateral offset of the moving mass will impact the yaw channel. Therefore, an Active Disturbance Rejection Controller (ADRC) is designed to deal with the roll-yaw coupling control problem, where the modeling error, moving mass coupling and uncertainties are regarded as total disturbances, and extended state observation and dynamic compensation of total disturbances for both the roll angle control and sideslip angle stabilization subsystems are conducted, the controller with simple structure is easy to implement and it is capable of resisting both internal and external disturbances. Finally, the effectiveness and robustness of the proposed controller are verified by numerical simulations with perturbations.