论文部分内容阅读
针对固定翼飞行器在飞行控制过程中存在的状态受限以及执行器物理特性限制等问题,提出了一种带有指令滤波器的反步模糊自适应控制器。首先,建立带有误差项的MIMO严反馈系统;其次,建立模糊系统在线逼近子系统误差项,基于Backstepping法对每一个子系统设计虚拟控制律;再次,考虑状态受限和执行器的物理特性(包括幅值和速率受限),将设计的虚拟控制律通过引入幅值、速率和带宽限制的指令滤波器,对滤波误差项进行补偿;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。仿真结果表明,设计的控制器具有很强的稳定性和鲁棒性。
Aiming at the problems such as the limited state of the fixed-wing aircraft during the flight control and the limitation of the physical characteristics of the actuator, a backstepping fuzzy adaptive controller with command filter is proposed. Firstly, the MIMO strict feedback system with error term is established. Secondly, the error term of fuzzy approximation subsystem is established, and the virtual control law is designed for each subsystem based on the Backstepping method. Thirdly, the state constraints and actuator physical properties (Including amplitude and speed limitation), the designed virtual control law is used to compensate the filter error term by introducing an order filter with amplitude, speed and bandwidth limitation. Finally, the closed-loop system is proved to be bounded by the Lyapunov stability theorem And the tracking error index converges within a neighborhood of zero. Simulation results show that the designed controller has strong stability and robustness.