低速巡飞器倾斜转弯鲁棒反演控制律设计

doi:10.3969/j.issn.1000-1093.2018.03.011

兵工学报 ›› 2018, Vol. 39 ›› Issue (3): 494-501.doi: 10.3969/j.issn.1000-1093.2018.03.011

低速巡飞器倾斜转弯鲁棒反演控制律设计

王娜，孙瑞胜，杨智刚，傅健

(南京理工大学能源与动力工程学院，江苏南京 210094)

收稿日期:2017-08-05 修回日期:2017-08-05 上线日期:2018-05-07
作者简介:王娜(1993—)，女，硕士研究生。E-mail: wnnjust@126.com
基金资助:
国家部委“十三五”预先研究项目（30107020605）

Design of Robust Backstepping Controller for Bank-to-turn of Low-speed Cruise Vehicles

WANG Na， SUN Rui-sheng， YANG Zhi-gang， FU Jian

(School of Energy and Power Engineering, Nanjing University of Science and Technology， Nanjing 210094， Jiangsu， China)

Received:2017-08-05 Revised:2017-08-05 Online:2018-05-07

摘要/Abstract

摘要： 针对低速巡飞器倾斜转弯非线性控制系统存在耦合、不确定项的特点，设计了一种倾斜转弯（BTT）鲁棒反演控制律。将巡飞器的动力学模型写成适用于反演算法的块控模型，假设其由标称模型与不确定项组成，利用微积分学中的Leibniz法则推导不确定项。采用反演算法推导控制律的基本形式，并通过改进的符号函数抵消非匹配不确定项，利用Lyapunov理论重新设计技术补偿匹配不确定项。仿真结果表明，与传统反演法相比，该系统能够快速、准确地跟踪攻角、侧滑角、倾斜角参考指令，具有强鲁棒性。

关键词: 巡飞器, 倾斜转弯, 鲁棒反演算法, 非匹配不确定项

Abstract: In view of coupling and uncertain characteristics of nonlinear control system for bank-to-turn(BTT) low-speed cruise vehicles, a robust backstepping controller is designed to follow the control command. The dynamic model of cruise vehicles is transformed into a block form which is suitable for backstepping algorithm. The block form is assumed to be composed of a nominal model and uncertain terms. The uncertain terms are derived and described by using the Leibniz rule in infinitesimal calculus. On this basis, the basic form of the control law is derived by exploiting backstepping algorithm. The modification of robust function, i.e., a new symbolic function, is conducted to compensate the unmatched uncertainties. Lyapunov redesign technique is introduced to control the matched uncertainties. Comparative simulation cases are implemented to validate the improved robust backstepping algorithm. The results indicate that the presented control response can quickly track the commands of angle of attack, sideslip angle and bank angle, which shows the strong robustness of the system. Key

Key words: cruisevehicle, bank-to-turn, robustbacksteppingalgorithm, unmatcheduncertainterm

中图分类号:

TJ765.2⁺1

王娜，孙瑞胜，杨智刚，傅健. 低速巡飞器倾斜转弯鲁棒反演控制律设计[J]. 兵工学报, 2018, 39(3): 494-501.

WANG Na， SUN Rui-sheng， YANG Zhi-gang， FU Jian. Design of Robust Backstepping Controller for Bank-to-turn of Low-speed Cruise Vehicles[J]. Acta Armamentarii, 2018, 39(3): 494-501.

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第39卷
第3期2018 年3月兵工学报ACTA
ARMAMENTARIIVol.39No.3Mar.2018

[1]	周荻，董金鲁. 带襟翼的飞行器非线性控制系统分析和设计[J]. 兵工学报, 2017, 38(7): 1322-1329.
[2]	张翼超，周徐昌，周浩. 倾斜转弯鱼雷的分散自适应变结构控制[J]. 兵工学报, 2013, 34(11): 1469-1473.

低速巡飞器倾斜转弯鲁棒反演控制律设计

Design of Robust Backstepping Controller for Bank-to-turn of Low-speed Cruise Vehicles

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