保证误差收敛速率机动滑翔飞行器抗饱和控制

在执行机构饱和约束下，针对机动滑翔飞行器高空横侧向大机动姿态控制问题，研究了在保证系统稳定的同时提高响应快速性方法.在标准Antiwindup方法中，误差收敛速率往往被忽略，系统快速性常常达不到设计要求.为了提高加入补偿后系统的误差收敛速率，对现存的一种基于线性矩阵不等式的Antiwindup设计方法进行改进，并运用比较原理证明了改进后受控闭环系统稳定且李雅普诺夫函数收敛速率有确定的下界，从而保证了误差收敛速率下界.与以往方法相比，该方法保证了对系统快速性的最低要求，为解决饱和系统稳定性与快速性的矛盾提供了一条有效途径.较大侧滑角下的倾侧角机动仿真结果表明，所设计的抗饱和控制器可以在恶劣的飞行环境下稳定完成倾侧角大机动的任务，相比于标准Antiwindup设计方法，该方法快速性有所提高.

Antiwindup attitude controller for maneuvering glide vehicles with guaranteed convergence rate

An attitude control law which can obtain stability and satisfactory response rate simultaneously with input saturation for a novel near space glide vehicle was presented. For nominal antiwindup, the convergence rate of control error is generally neglected and can be extremely small in some situation. In order to improve the fastness of controlled system, an existing LMI based design algorithm was modified. By utilizing the comparative principle, the asymptotically stability of the controlled close-loop system and guaranteed convergence rate for Lyapunov function was proved. Differently from previous works, this method satisfy the basic fastness need of controlled system and provide a way to trade-off between stability and fastness. The simulation of heeling angle maneuvering with nonzero slip angle shows the effectiveness of the proposed antiwindup control method. Compared with nominal Antiwindup method the proposed one performed better in fastness.