具有输入饱和的近空间飞行器鲁棒控制

Robust control for near space vehicles with input saturation

中文关键词  近空间飞行器  非线性控制  输入饱和  干扰观测器  鲁棒控制

英文关键词  near space vehicles  nonlinear control  input saturation  disturbance observer  robust control

中文摘要

      针对近空间飞行器这一类存在外部扰动, 输入饱和和参数不确定的多输入多输出线性系统, 提出了一种基于干扰观测器的抗饱和鲁棒控制方案. 将干扰观测器与抗饱和控制技术相结合, 从而消除系统存在的未知外部扰动、输入饱和和不确定性对系统控制的影响. 首先, 设计干扰观测器对线性外部系统产生的未知扰动进行估计. 然后根据干扰观测器输出, 通过超前抗饱和方法设计抗饱和补偿器, 并将其加入到鲁棒控制器的设计中, 保证闭环系统存在输入饱和、未知外部扰动和参数不确定情况下的稳定性. 为便于设计, 干扰观测器、抗饱和补偿器和控制器设计矩阵均通过求解线性矩阵不等式得到. 最后, 将提出的鲁棒抗饱和控制方法应用于近空间飞行器, 仿真结果验证了该控制方案的有效性.

英文摘要

      An anti-windup robust control scheme is proposed for the near space vehicles (NSV) which are a class of multi-input multi-output (MIMO) linear systems with input saturation, unknown external disturbances and parametric uncertainties. The developed anti-windup control scheme is cooperated with disturbance observer to eliminate the effects of input saturation, unknown external disturbances and parametric uncertainties. A disturbance observer is presented to estimate the unknown disturbance generated by a linear exogenous system. Then, based on the output of the disturbance observer, the anticipatory anti-windup compensator is developed and considered with the robust controller design to ensure the stability of the close-loop system subject to unknown external disturbances, input saturation and parametric uncertainties. The designed gain matrices of the disturbance observer, anti-windup compensator and robust controller are determined by solving the linear matrix inequalities (LMIs). Finally, the proposed anti-windup robust control scheme is applied to the NSV, and the effectiveness of this developed control scheme is illustrated by the simulation results.