高超飞行器的再入非线性动力学模型具有参数不确定性和外部干扰,针对这种情况基于奇异摄动理论提出了鲁棒内环外环解耦控制方案.控制系统的外环基于自适应模型参考设计简单解析的虚拟控制律,实现二阶模型动态跟踪气流系角,抑制三通道运动耦合和干扰的影响,避免了在线实时求逆计算.强耦合的内环采用动态逆跟踪虚拟的角速度指令,期望动力学采用PI形式抑制干扰和不确定性,并基于模型预测控制策略解决辅助轨迹线性化的时变控制器设计和输入约束,提高内环的鲁棒跟踪性能.最后,通过仿真验证了所提算法的有效性.%A robust decoupling control method is presented for nonlinear attitude dynamics of hypersonic vehicle with model uncertainties and external disturbances. The dynamics is separated into fast loop and slow loop as attitude angular velocity and attitude angle in terms of the singular perturbation theory. In the outer-loop, the simple analytical control law based on second order model reference adaptive control theory is used to suppress the coupling of attitude kinematics and cxtemal disturbances without inverse operation. In the inner-loop system, the affine control with tight couping aerodynamic coefficients is used, control vector is solved explicitly by nonlinear dynamic inverse, the desired dynamics is in proportional plus integral dynamics form, trajectory linearization-aided time-varying controller is designed based on model predictive control policy with input constraint, to improve system robustness. Lastly, simulation result demonstrates effectiveness of the proposed method.
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