多源干扰下考虑攻角受限的高超声速飞行器抗干扰跟踪控制理论与方法

Hypersonic flight vehicle (HFV) is featured as highly nonlinearity, strong coupling and multiple uncertainties under the circumstance of complex near space. In addition, the propulsion performance of equipped scramjet engine for HFV is quite sensitive to the working range, measurement and control precision of angle of attack, which poses high requirements for measurement of angle of attack and anti-disturbance control for multiple disturbances. Thus, this project investigates anti-disturbance tracking control theory and method for HFV with multiple disturbances and constrained angle of attack. First, control-oriented mathematical model for HFV with representative dynamic characteristics is established, which can provide model basis for measurement of angle of attack and state constrained anti-disturbance control for multiple disturbances. Second, considering the measurement issue of angle of attack in the presence of sensor noises existed in multiple channels, augmented tracking differentiator and nonlinear integrator based online accurate reconstruction strategy and method for angle of attack is investigated. Finally, to guarantee the angle of attack being restricted by the prescribed boundary, and avoid controller conservatism and degraded control performance caused by the single anti-disturbance mechanism applied in the existing methods, barrier Lyapunov function, augmented disturbance observer and adaptive parameter estimation based HFV anti-disturbance tracking control theory and method is constructed, and all the proposed methods will be verified by comprehensive simulations. The research results will have great implications for enriching and developing anti-disturbance tracking control theory and method with constrained state, as well as accelerating the research and application progress of HFV.

高超声速飞行器(HFV)在复杂近空间环境下呈现强非线性、强耦合和多源干扰等特征，其超燃冲压发动机推进性能对攻角的工作范围、测量与控制精度异常敏感，给攻角测量与多源抗干扰控制提出了极高要求。为此，本项目拟开展多源干扰下考虑攻角受限的HFV抗干扰跟踪控制理论与方法研究：首先，建立面向控制的可表征HFV典型动力学特征的数学模型，为攻角测量与状态受限多源抗干扰控制提供基础；其次，考虑多通道量测噪声情况下的攻角测量问题，探索基于增广跟踪微分器与非线性积分器的攻角在线精准重构策略与方法；最后，为保证多源干扰下攻角限制在预设边界内，并避免已有方法因抗干扰机制单一导致控制效果保守、控制性能不佳的弊端，构建融合障碍Lyapunov函数、增广干扰观测器和自适应参数估计的HFV抗干扰跟踪控制理论与方法，并进行综合仿真验证。预期成果对于丰富和发展状态受限抗干扰控制理论、加快我国HFV预研与应用进程具有重要意义。

针对多源干扰和攻角边界约束并存情况下的高超声速飞行器（FAHV）高安全、强鲁棒跟踪控制这一瓶颈基础科学问题，基于先进滤波与噪声抑制、受限反步和多源抗干扰控制理论，开展了多源干扰下考虑攻角受限的FAHV抗干扰跟踪控制理论与方法研究。（1）针对FAHV大范围全速域飞行的特点，建立了能充分表征其典型动力学特征的刚体动力学和运动学模型，综合考虑未建模动态、外界干扰、参数不确定性、量测噪声等多源干扰对控制品质的影响，构建了面向控制的FAHV严格反馈形式模型。（2）在融合嵌入式大气数据传感系统(FADS)和惯性导航系统(INS)的组合导航设备所提供的输出参数基础上，提出了具备强漂移抑制和优异滤波性能的攻角在线精准重构策略，研究了基于奇异摄动理论与sigmoid函数的用于俯仰角速率漂移抑制的非线性积分器构造与性能分析方法。（3）针对FAHV极强的非线性与耦合特性以及快时变的特点，分别提出了带不确定性干扰观测器的FAHV无抖震快速收敛事件触发控制方法、基于事件触发机制和最小学习参数的FAHV指定时间收敛自适应控制方法、考虑攻角及跟踪性能受限的FAHV测量-控制回路事件触发控制方法，实现了多源干扰和攻角受限情况下对于高度与速度指令的高精度跟踪控制。本项目在IEEE Transactions on Systems Man Cybernetics-Systems、IEEE Transactions on Industrial Electronics、 IEEE Transactions on Cybernetics、IEEE Transactions on Intelligent Transportation Systems、 IEEE Transactions on Aerospace and Electronic Systems等国际顶级学术刊物发表SCI论文31篇，1篇会议论文荣获2019年IEEE国际无人系统会议最佳优秀论文奖(10/300)，以第一发明人申报国家发明专利4项，出版学术专著1部，2019年入选山西省高等学校优秀青年学术带头人，并以第一完成人荣获2021年山西省自然科学二等奖。