作　　者： (虞棐雄）; (王永超）; (曹立佳）; (张胜修）; (扈晓翔）;

机构地区： 火箭军工程大学,西安710025

出　　处： 《航天控制》 2017年第4期26-32,共7页

摘　　要： 针对巡航飞行器在飞行过程中系统特征及各项参数时变、对控制系统强非线性的情况,设计了一种以反步法为基础的误差逼近鲁棒非线性系统。首先,对巡航飞行器建立6-DOF非线性模型,根据反馈线性理论,将系统转化为含有误差项的严格反馈MIMO系统。其次,利用Backstepping设计控制律和误差逼近律,在虚拟控制律设计中引入动态面法来避免多重微分运算,以解决"项数膨胀"问题。最后,运用Lyapunov稳定性定理证明了闭环系统有界且跟踪误差指数收敛于零的一个邻域内。通过飞行器飞行仿真,结果表明控制器在外界未知干扰下具有很强的稳定性和鲁棒性。 An error estimation robust nonlinear controller based on backstepping is designed for cruise air- craft to fulfill the fairly great changes of characteristics and strongly nonlinear control system. Firstly, a 6- DOF （degree-of-freedom） nonlinear model is established. By using the linear feedback theory, the system is strictly transformed into feedback MIMO systems with errors; secondly, the backstepping is used to design control law and error estimation law. Dynamic surface control is employed to replace the differentiations of the virtual control law in traditional backstepping, which is used to handle the problem of ＇ term explo- sion＇. Finally, the closed-loop system is guaranteed to be bounded and tracking errors are also proved to converge exponentially to a small neighborhood around zero. The simulation result shows the controller has strong effectiveness and robustness under the unknown uncertainty and disturbance.

关 键 词： 误差逼近器 系统 反步法 动态面 巡航飞行器