摘要
针对空天飞行器再入飞行时动态的强非线性和不确定性问题,提出了一种基于反推法的自适应终端滑模控制方法.首先建立了ASV的具有时变参数的严反馈形式被控模型,进一步采用自适应策略在线估计被控系统的不确定参数,将一阶低通滤波器引入到虚拟控制律设计中,降低反推计算的复杂性.在反推设计的最后一步引入终端滑模控制,以提高控制系统对于匹配不确定性的鲁棒性和系统跟踪误差的收敛速度,同时引入矩阵的广义逆,避免控制增益参数估计过程中可能出现的奇异现象.最后借助Lyapunov稳定性理论,证明了闭环系统误差及状态信号一致最终有界.以某型ASV再入姿态跟踪控制为目标,进行了6自由度飞行仿真验证.结果表明:所提出的自适应反推终端滑模控制方法跟踪速度快、鲁棒性强,且对不确定参数具有较强的自适应能力.
An adaptive backstepping terminal sliding mode controller is designed for ASV with highly nonlinear and uncertain parameters in the reentry phase. Firstly, a strict-feedback nonlinear system with time-varying parameters for the ASV is established. Then, an adaptive strategy is used to estimate the uncertain parameters. Computation explosion is reduced by introducing first-order low-pass filters. In the nth step, the terminal sliding mode control is introduced, which can improve the robustness of system and error convergence rate. The introduced generalized inverse matrix can effectively avoid the singularity in the parameter estimation of control gain matrix process. All errors and states of the closed-loop system are proved ultimately bounded by Lyapunov stability theory. Simulation results of six-degree-of-freedom show that the tracking speed of control scheme is fast and the robust is strong. The control scheme has high adaptability for uncertain parameters.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2013年第12期116-120,共5页
Journal of Harbin Institute of Technology
基金
第二炮兵装备部预研项目(103020101)
关键词
自适应参数估计
反推
终端滑模控制
姿态控制
鲁棒性
adaptive parameter estimation
backstepping
terminal sliding mode control
attitudecontrol
robustness
