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考虑飞行器模型中的不确定和干扰失配问题,针对再入飞行器提出了一种基于非线性干扰观测器的广义预测控制方法。首先,在姿态子系统中引入虚拟广义预测控制,通过非线性观测器实现对控制器中未知干扰的估计;其次,对姿态角速度子系统利用广义预测控制方法进行实际控制输入设计时,为简化计算,将虚拟控制的导数作为不确定项同未知干扰一起利用非线性干扰观测器进行了估计;最后,基于Lyapunov理论证明了飞行器姿态收敛到期望姿态的有界小邻域内。仿真结果验证了此方法的有效性。
Considering the problem of uncertainty and interference mismatch in aircraft model, a generalized predictive control method based on nonlinear disturbance observer is proposed for reentry vehicle. Firstly, the virtual generalized predictive control is introduced into the attitude subsystem, and the unknown disturbance in the controller is estimated by nonlinear observer. Secondly, in order to simplify the calculation of the actual control input of the attitude angular velocity subsystem by using the generalized predictive control method, , The derivative of the virtual control is estimated as an uncertain item together with the unknown disturbance using a nonlinear disturbance observer. Finally, based on Lyapunov theory, it is proved that the attitude of the aircraft converges to the bounded small neighborhood of the desired pose. Simulation results verify the effectiveness of this method.