采用固定时间观测器的翼伞控制方法与应用

Fixed-time disturbance observer-based parafoil control method and application

中文关键词  非线性控制系统  姿态控制  路径跟踪  固定时间  观测器

英文关键词  nonlinear control systems  attitude control  trajectory tracking  fixed time  observers

中文摘要

      针对翼伞–火箭一子级柔性结构系统的控制难题, 提出了一种采用固定时间观测器的改进矢量场轨迹跟踪 控制方法. 首先, 设计了在线风场估计方法对未知风场进行了估计; 其次, 为了保证该控制系统在气动参数不确 定、子系统铰连耦合等因素影响下的快速稳定性, 提出了一种固定时间干扰观测器用来估计无需知道干扰上边界 的复合干扰, 并用于补偿控制系统的输入; 然后, 设计了一个同时保证侧偏距、偏航角以及偏航角速率稳定的横侧 向控制器, 并利用Lyapunov理论证明了闭环翼伞控制系统的收敛特性. 最后, 通过数值仿真及硬件在环实验验证了 所提出方法的有效性及应用价值.

英文摘要

      To address the control problem of the flexible parafoil-booster system, a modified vector field path following control scheme with a fixed-time disturbance observer is proposed. Firstly, an online wind field estimation approach is introduced to obtain the unknown wind environment. Secondly, in order to ensure the fast stability of the parafoil-booster control system subject to the negative influence of aerodynamic uncertainties and the hinge coupling between these two subsystems, a fixed-time disturbance observer is designed to estimate the composite disturbance without knowing the upper boundary of the disturbance. The estimation result is used to compensate for the input of the control system. Thirdly, a lateral controller is developed to simultaneously ensure the stability of lateral deflection moment, yaw angle, and yaw rate. The closed-loop parafoil control system has been proved by using the Lyapunov theory. Finally, the effectiveness and application value of the proposed method is verified by numerical simulation and hardware-in-loop testing.