论文部分内容阅读
以高超声速飞行器6自由度模型为研究对象,设计了一种基于终端滑模的全局有限时间姿态控制方法。在控制器设计中,通过动态逆实现对俯仰、偏航和滚转通道的解耦处理。在考虑模型不确定性和外部干扰的情况下,终端滑模变结构控制方法用于保证系统的鲁棒性。同时,通过改进指数趋近律,实现闭环系统在滑模面趋近阶段和沿滑模面滑动阶段均是有限时间收敛的。基于李雅普诺夫稳定性理论,控制器的全局有限时间收敛特性得到证明。仿真实验结果验证了高超声速飞行器全局有限时间姿态控制方法的有效性。
Taking the 6 DOF model of hypersonic vehicle as the research object, a global finite-time attitude control method based on terminal sliding mode is designed. In controller design, the decoupling of pitch, yaw and roll path is implemented by dynamic inverse. Taking into account the model uncertainty and external disturbances, the terminal sliding mode variable structure control method is used to ensure the robustness of the system. At the same time, by means of improving the exponential approach law, the closed-loop system converges for a finite time both in the approach phase of sliding mode and in the sliding mode of sliding mode. Based on the Lyapunov stability theory, the global finite time convergence of the controller is proved. Simulation results verify the validity of the global finite-time attitude control method for hypersonic vehicles.