基于ESO的模糊LQR双尾舵高速飞行器姿态控制方法

袁浩桓; 沈昀; 李瑜; 沈作军

doi:10.12382/bgxb.2025.0410

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基于ESO的模糊LQR双尾舵高速飞行器姿态控制方法

更新时间：2026-04-24

- 基于ESO的模糊LQR双尾舵高速飞行器姿态控制方法
- An Attitude Control Method for Dual-tail High-speed Aircraft with ESO-based Fuzzy LQR
- 兵工学报 2026年47卷第3期页码：250410
- 作者机构：
  
  北京航空航天大学航空科学与工程学院，北京 100191
  空天飞行技术全国重点实验室，北京 100191
- 作者简介：
  
  通信作者邮箱：09433@buaa.edu.cn
- 基金信息：
  
  空天飞行技术全国重点实验室开放基金项目(20250002)
- DOI：10.12382/bgxb.2025.0410
  中图分类号： V249.1
- 收稿：2025-05-25，
  
  网络首发：2026-01-27，
  
  纸质出版：2026-03
- 稿件说明：
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袁浩桓, 沈昀, 李瑜, 等. 基于ESO的模糊LQR双尾舵高速飞行器姿态控制方法[J]. 兵工学报, 2026,47(3):250410.

YUAN Haohuan, SHEN Yun, LI Yu, et al. An Attitude Control Method for Dual-tail High-speed Aircraft with ESO-based Fuzzy LQR[J]. Acta Armamentarii, 2026, 47(3): 250410.
袁浩桓, 沈昀, 李瑜, 等. 基于ESO的模糊LQR双尾舵高速飞行器姿态控制方法[J]. 兵工学报, 2026,47(3):250410. DOI： 10.12382/bgxb.2025.0410.

YUAN Haohuan, SHEN Yun, LI Yu, et al. An Attitude Control Method for Dual-tail High-speed Aircraft with ESO-based Fuzzy LQR[J]. Acta Armamentarii, 2026, 47(3): 250410. DOI： 10.12382/bgxb.2025.0410.

摘要

双尾舵高速飞行器具有强非线性、强耦合的特征，存在荷兰滚模态不稳定的特点，针对双尾舵高速飞行器姿态稳定与控制问题，建立动力学模型并分析其控制机理，设计基于扩张状态观测器（Extended State Observer，ESO）的插值调度模糊线性二次型调节器（Fuzzy Linear Quadratic Regulator，FLQR）。该控制器适用于具有高度非线性操纵特性的双尾舵高速飞行器，并规避了横向控制偏离判据（Lateral Control Departure Parameter，LCDP）极性判别过程。为应对双尾舵布局高速飞行器的操纵特性随姿态显著变化问题，提出基于迎角插值增益调度控制策略；针对LCDP极性变号点的强不确定性，引入模糊控制与ESO以增强控制系统鲁棒性。仿真结果验证了双尾舵欠驱动构型的可行性，表明该控制系统能够在存在参数偏差、外部干扰和操纵特性变化的情况下实现姿态稳定与控制。

Abstract

Dual-tail high-speed aircraft exhibits the strong nonlinearity and strong coupling characteristics

and has a feature of an unstable Dutch roll mode. For the attitude stability and control issues of such aircraft

a dynamic model is established to analyze its control mechanism

and an interpolation scheduling fuzzy linear quadratic regulator（FLQR）based on an extended state observer（ESO）is designed. This controller is suitable for the dual-tail high-speed aircraft characterized by highly nonlinear maneuvering properties and avoids the polarity judgment process of lateral control departure parameter（LCDP）. To address the issue that the maneuvering characteristics of the dual-tail high-speed aircraft significantly changes with the aircraft′s attitude

a gain-scheduling control strategy based on angle-of-attack interpolation is proposed. For the high uncertainty in the region of LCDP polarity reversal points

the fuzzy control combined with ESO is introduced to enhance the robustness of control system. The feasibility of the underactuated dual-tail configuration is verified through simulation. The results show that the control system is capable of achieving attitude stability and control under the conditions of parameter deviations

external disturbances

and variations in control characteristics.

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references

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