高超声速飞行器新型预设性能控制器设计
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摘要
针对强不确定、多约束条件下高超声速飞行器的控制性能问题,提出一种新型、同时保证高超声速飞行器瞬态响应和稳态性能的鲁棒预设性能控制器设计方法。首先,设计一种新型、时变、对数型障碍Lyapunov函数,结合动态面法,在保证高超声速飞行器高度和速度子系统稳态跟踪误差精度的同时,还能确保其收敛速度、超调量等瞬态响应性能;与传统的预设性能方法相比,该方法无需误差转化,降低了设计的复杂度。然后,针对模型和外部扰动不确定问题,设计了自适应、非线性干扰观测器对不确定的上界进行估计并引入控制律。此外,还引入辅助误差子系统,降低高超声速飞行器执行机构饱和对闭环系统的影响。最后,通过Lyapunov稳定性理论证明了闭环系统所有状态均有界。仿真结果验校了本文控制器设计的有效性。
A novel prescribed performance controller is addressed for the longitudinal dynamics of a hypersonic vehicle with large uncertainties and multi-constraints in this paper. Firstly,both the transient and steady performance of the altitude and velocity tracking errors are guaranteed in the pre-selected bounds by utilizing the newly proposed time-varying barrier Lyapunov function-based dynamic surface control. Compared with the traditional prescribed performance technique,the proposed algorithm does not need error transformation and thus reduces the design complexity. Then,the upper bounds of the uncertainties are estimated and introduced into the control law by exploiting the adaptive nonlinear disturbance observer.In addition,an auxiliary error compensation design,which can alleviate the effectiveness of actuator saturations,is employed based on the compensated tracking error. Finally,the ultimately boundedness of the closed-loop system is rigorously ensured by the Lyapunov stability theorems. The numerical simulation results validate the effectiveness of the proposed method.
A novel prescribed performance controller is addressed for the longitudinal dynamics of a hypersonic vehicle with large uncertainties and multi-constraints in this paper. Firstly,both the transient and steady performance of the altitude and velocity tracking errors are guaranteed in the pre-selected bounds by utilizing the newly proposed time-varying barrier Lyapunov function-based dynamic surface control. Compared with the traditional prescribed performance technique,the proposed algorithm does not need error transformation and thus reduces the design complexity. Then,the upper bounds of the uncertainties are estimated and introduced into the control law by exploiting the adaptive nonlinear disturbance observer.In addition,an auxiliary error compensation design,which can alleviate the effectiveness of actuator saturations,is employed based on the compensated tracking error. Finally,the ultimately boundedness of the closed-loop system is rigorously ensured by the Lyapunov stability theorems. The numerical simulation results validate the effectiveness of the proposed method.
引文
[1]李惠峰,薛松柏,张冉.吸气式高超声速飞行器机体推进控制一体化建模方法研究[J].宇航学报,2012,33(9):1185-1194.[Li Hui-feng,Xue Song-bai,Zhang Ran.Research of modeling method based on integrated design for airframepropulsion-control of AHV[J].Journal of Astronautics,2012,33(9):1185-1194.]
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[9]冯振欣,郭建国,周军.高超声速飞行器多约束鲁棒姿态控制器设计[J].宇航学报,2017,38(8):839-846.[Feng Zhenxin,Guo Jian-guo,Zhou Jun.Robust attitude control design for a hypersonic vehicle with multi-constraints[J].Journal of Astronautics,2017,38(8):839-846]
[10]Bu X,Wei D,Wu X,et al.Guaranteeing prescribed tracking quality for air-breathing hypersonic non-affine models with an unknown control direction via concise neural control[J].Journal of the Franklin Institute,2016,353(13):3207-3232.
[11]Parker J T,Serrani A,Yurkovich S,et al.Control-oriented modeling of an air-breathing hypersonic vehicle[J].Journal of Guidance,Control,and Dynamics,2007,30(3):856-869.
[12]Tee K P,Ren B,Ge S S.Control of nonlinear systems with timevarying output constraints[J].Automatica,2011,47(4):2511-2516.
[13]Polycarpou M M.Stable adaptive neural control scheme for nonlinear systems[J].IEEE Transactions on automatic and control,1996,41(3):447-451.
[14]Fiorentini L,Serrani A,Bolender M A,et al.Nonlinear robust adaptive control of flexible air-breathing hypersonic vehicles[J].Journal of Guidance,Control,and Dynamics,2009,32(2):401-416.
[15]Xu B,Wang S X,Gao D X,et al.Command filter based robust nonlinear control of hypersonic aircraft with magnitude constraints on states and actuators[J].Journal of Intelligent Robust System,2014,73:233-247.
[2]Brocanelli M,Gunbatar Y,Serrani A,et al.Robust control for unstart recovery in hypersonic vehicles[C].AIAA Guidance,Navigation,and Control Conference,Minneapolis,USA,Aug 13-16,2012.
[3]An H,Liu J,Wang C,et al.Disturbance observer based antiwindup control for air-breathing hypersonic vehicles[J].IEEE Transactions on Industrial Electronics,2016,63(5):3038-3049.
[4]刘宇超,郭建国,周军,等.基于新型快速Terminal滑模的高超声速飞行器姿态控制[J].航空学报,2015,36(7):2372-2380.[Liu Yu-chao,Guo Jian-guo,Zhou Jun,et al.Hypersonic vehicle attitude control based on new fast terminal sliding mode[J].Acta Aeronautica et Astronautca Sinica,2015,36(7):2372-2380].
[5]Wang F,Hua C,and Zong Q.Attitude control of reusable launch vehicle in reentry phase with input constraint via robust adaptive backstepping control[J].International Journal of Adaptive Control and Signal Processing,2015,29(10):1308-1327.
[6]Hu X,Wu L,Hu C,et al.Adaptive sliding mode tracking control for a flexible air-breathing hypersonic vehicle[J].Journal of The Franklin Institute,2012,349(2):559-577.
[7]Tang W,Long W,Gao H.Model predictive control of hypersonic vehicles accommodating constraints[J].IET Control Theory and Applications,2017,11(15):2599-2606.
[8]董朝阳,路遥,王青.高超声速飞行器指令滤波反演控制[J].宇航学报,2016,37(8):957-963.[Dong Chao-yang,Lu Yao,Wang Qing.Command filtered backstepping control for hypersonic vehicle[J].Journal of Astronautics,2016,37(8):957-963.]
[9]冯振欣,郭建国,周军.高超声速飞行器多约束鲁棒姿态控制器设计[J].宇航学报,2017,38(8):839-846.[Feng Zhenxin,Guo Jian-guo,Zhou Jun.Robust attitude control design for a hypersonic vehicle with multi-constraints[J].Journal of Astronautics,2017,38(8):839-846]
[10]Bu X,Wei D,Wu X,et al.Guaranteeing prescribed tracking quality for air-breathing hypersonic non-affine models with an unknown control direction via concise neural control[J].Journal of the Franklin Institute,2016,353(13):3207-3232.
[11]Parker J T,Serrani A,Yurkovich S,et al.Control-oriented modeling of an air-breathing hypersonic vehicle[J].Journal of Guidance,Control,and Dynamics,2007,30(3):856-869.
[12]Tee K P,Ren B,Ge S S.Control of nonlinear systems with timevarying output constraints[J].Automatica,2011,47(4):2511-2516.
[13]Polycarpou M M.Stable adaptive neural control scheme for nonlinear systems[J].IEEE Transactions on automatic and control,1996,41(3):447-451.
[14]Fiorentini L,Serrani A,Bolender M A,et al.Nonlinear robust adaptive control of flexible air-breathing hypersonic vehicles[J].Journal of Guidance,Control,and Dynamics,2009,32(2):401-416.
[15]Xu B,Wang S X,Gao D X,et al.Command filter based robust nonlinear control of hypersonic aircraft with magnitude constraints on states and actuators[J].Journal of Intelligent Robust System,2014,73:233-247.