摘要
研究了一种基于干扰补偿Terminal滑模的高超声速飞行器姿态控制方法.针对传统Terminal滑模控制存在的奇异问题,提出了一种简单的改进型Terminal滑模面,通过在平衡点附近从非线性滑模面切换至高增益线性滑模面,避免了控制奇异问题,同时保持了较高的收敛速度,并对改进Terminal滑模控制在干扰作用下的误差收敛特性进行了理论分析.为进一步提高控制的鲁棒性和控制精度,设计了扩张状态观测器对干扰进行估计和补偿.进行了六自由度数学仿真验证,仿真结果表明:该方法可有效提高控制系统的控制性能和鲁棒性.
An attitude control approach for hypersonic vehicles based on disturbance compensated terminal sliding mode(TSM) was studied.First,a modified TSM surface which switched to high gain linear sliding mode surface while in the neighborhood of equilibrium point was proposed to overcome the singularity problem of traditional TSM,and maintain the high rate of convergence.Then the error convergence property of the proposed TSM in the presence of disturbances was analyzed theoretically.To improve the robustness and precision of TSM control,extended state observer(ESO) was designed to estimate and compensate for disturbances.Finally,6-degree of freedom numerical simulation was carried out,and the simulation results demonstrate that the control performance and robustness are improved by the proposed method.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2012年第11期1454-1458,共5页
Journal of Beijing University of Aeronautics and Astronautics
关键词
姿态控制
终端滑模
扩张状态观测器
干扰估计
自适应控制
attitude control
terminal sliding mode
extended state observer
disturbance estimation
adaptive control
