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针对变体近空间飞行器(near space vehiele,NSV)大包络、多模态的特性,研究其姿态的鲁棒自适应跟踪控制问题。首先,提出标称变体NSV切换非线性系统的单一且光滑主控制器设计方法,以解决因飞行模态切换引起的主控制舵面跳变。其次,针对切换瞬间复合干扰存在不连续的问题,给出一组同步切换的改进干扰观测器设计方法。将改进干扰观测器的输出与光滑的主控制律相结合组成不确定变体NSV切换非线性系统的复合控制器。采用平均驻留时间分析法证明所提出的控制方法可以保证闭环不确定变体NSV切换非线性系统的稳定性。最后,仿真结果验证了所提方法的有效性。
Aiming at the characteristics of large envelop and multimodal of near space vehiele (NSV), the robust adaptive tracking control problem of its attitude is studied. First, a single and smooth main controller design method of a nominal variant NSV switched nonlinear system is proposed to solve the main control surface jump caused by flight mode switching. Secondly, aiming at the problem of discontinuous composite interference in switching instantaneous, a set of improved interference observer design method is given. Combining the output of the improved disturbance observer with the smoothing master control law composes a composite controller for the uncertain variant NSV switching nonlinear system. The average dwell time analysis method is used to prove that the proposed control method can guarantee the stability of the closed-loop uncertain variant NSV switched nonlinear system. Finally, the simulation results verify the effectiveness of the proposed method.