针对高超声速飞行器随机参数摄动的姿态控制问题,提出一种基于轨迹线性化和扩展卡尔曼滤波(extended Kalman filter,EKF)的预测滑模控制方法.首先,针对随机参数摄动的高超声速飞行器非线性模型,采用轨迹线性化方法建立线性时变误差调节模型.通过分析参数误差的统计特性,将统计信息以参数协方差矩阵的形式进行表示,并设计E K F对受扰误差状态进行滤波.然后,采用预测滑模控制方法设计误差稳定调节器,使系统快速趋于稳定.所提方法对随机参数摄动和非线性干扰都具有强鲁棒性.仿真验证了所提方法的有效性.
Attitude control of hypersonic vehicle with random parameter perturbations
In view of the attitude control problem of a hypersonic vehicle with range of random parameter perturbations a predictive sliding mode control method based on trajectory linearization and extended Kalman filter(EKF)is proposed.Using trajectory linearization method,a linear time-varying error adjustment model is established from the nonlinear model of hypersonic vehicle.The statistical information in the linearized model caused by parameter perturbations is expressed in the form of parameter covariance matrix by analysis of the statistical characteristics of parameter errors,then the EKF is designed to filter the disturbed error state.Finally,the predictive sliding mode control method is used to design the error stabilization regulator to realize the rapid stabilization of the system.The proposed method is robust to both nonlinear disturbances and random parameter perturbations.Simulation results verify the effectiveness of the proposed method.
万方数据
维普
