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针对外部扰动不确定的机翼气动弹性颤振问题,提出一种基于系统浸入与流形不变的自适应反演滑模控制方法。首先建立了带双控面和不确定外部扰动的气动弹性系统模型。然后结合反演和滑模控制理论设计了自适应Super-twisting反演滑模控制器,其中自适应扰动估计的设计采用浸入与不变方法,在系统整体自适应律中加入额外补偿项并建立扰动估计误差流形,通过自适应律的设计来保证误差流形的不变及吸引,从而保证扰动估计误差的收敛。最后对设计的控制系统进行了Lyapunov稳定性证明和仿真。结果表明,利用该方法设计的控制器外部扰动估计准确,翼段浮沉位移和俯仰角的控制优于传统的自适应滑模控制,气动弹性系统的稳定性和自适应性有所提高。
Aiming at the problem of aeroelastic flutter with uncertain external disturbance, an adaptive inversion sliding mode control method based on system immersion and manifold stability is proposed. First, a model of aeroelastic system with two control surfaces and uncertain external disturbances is established. Then, an adaptive Super-twisting inverse sliding mode controller is designed based on the theory of inversion and sliding mode control. The adaptive disturbance estimation is designed by using immersion and invariant methods, and an additional compensation term is added to the overall adaptive law of the system. By perturbing the estimated error manifold, the invariant and attractive error manifolds are guaranteed by the design of the adaptive law, so as to ensure the convergence of the disturbance estimation error. Finally, the Lyapunov stability verification and simulation of the designed control system are carried out. The results show that the proposed controller is more accurate than the traditional adaptive sliding mode control in terms of the accurate estimation of external disturbances and the stability of the aeroelastic system.