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应用科学学报 ›› 2012, Vol. 30 ›› Issue (4): 408-414.doi: 10.3969/j.issn.0255-8297.2012.04.013

• 控制与系统 • 上一篇    下一篇

应用非线性干扰观测器的反推终端滑模飞行控制

王坚浩1， 胡剑波1;2， 张博锋2   

  1. 1. 空军工程大学工程学院，西安710038
    2. 上海大学计算机工程与科学学院，上海200072
  • 收稿日期:2011-06-21 修回日期:2011-08-16 出版日期:2012-07-23 发布日期:2012-07-30
  • 作者简介:王坚浩，博士生，研究方向：先进控制理论与应用、飞行控制等，E-mail：wangjh1204@sina.com；胡剑波，教授，博导，研究方向：先进控制理论与应用、飞行控制、故障诊断等，E-mail：autosys@vip.sina.com
  • 基金资助:

    上海市重点学科建设项目基金(No.J50103)；空军工程大学科研创新基金(No.XS0901008)资助

Backstepping Terminal Sliding Mode for Flight Control Based on Nonlinear Disturbance Observer

WANG Jian-hao1, HU Jian-bo1;2, ZHANG Bo-feng2   

  1. 1. Engineering College, Air Force Engineering University, Xi’an 710038, China
    2. School of Computer Engineering and Science, Shanghai University, Shanghai 200072, China
  • Received:2011-06-21 Revised:2011-08-16 Online:2012-07-23 Published:2012-07-30

PDF

1301

被引次数

12

摘要：

针对飞机机动飞行时模型非线性、气动参数和力矩干扰不确定性的特点，提出一种基于非线性干扰观测
器的反推终端滑模控制方案. 该方案利用非线性干扰观测器逼近系统不确定性，取消了不确定性上界已知条件. 反
推设计过程中结合动态面控制设计虚拟控制律，能避免计算复杂性问题，通过引入快速终端滑模控制策略，提高了
系统收敛速度和稳态跟踪精度. 采用Lyapunov 稳定性理论证明了闭环系统所有信号一致终结有界. 对某战斗机进
行6 自由度机动飞行仿真，验证了该控制方案的有效性.

关键词: 非线性干扰观测器；反推；动态面控制；快速终端滑模控制；机动飞行

Abstract:

A backstepping terminal sliding mode control scheme based on nonlinear disturbance observer
(NDO) is proposed in the presence of model nonlinearity, aerodynamic parameter and moment disturbance
uncertainties for maneuvers flight. The control scheme removes the priori condition of the upper bound of
uncertainties by using NDO to approximate uncertainties. Explosion of complexity is avoided by combining
dynamic surface control with the design virtual controller. A fast terminal sliding mode control strategy is then
used to improve convergence and steady-state tracking accuracy of the system. Using the Lyapunov stability
theorem, all signals in the closed loop system are guaranteed to be ultimately uniformly bounded. Simulation
of a nonlinear six-degree-of-freedom maneuvering flight of an aircraft is done. The results show effectiveness
of the proposed control scheme.

Key words: nonlinear disturbance observer (NDO), backstepping, dynamic surface control, fast terminal sliding mode control, maneuvering flight

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