高超声速飞行器预定时间量化容错协同控制

doi:10.12305/j.issn.1001-506X.2026.05.28

摘要/Abstract

摘要：

针对带有执行器故障、信号量化的六自由度高超声速飞行器协同控制问题，设计一种预定时间量化容错控制器。首先，在时间尺度上将六自由度高超声速飞行器模型分解为位置子系统、速度子系统和姿态子系统，结合量化模型和故障模型建立面向控制的模型。其次，分别对3个子系统设计预定时间控制器，保证高超声速飞行器在预设定的时间内完成编队飞行，并设计一种自适应跟踪方法来补偿故障和信号量化带来的影响。最后，基于Lyapunov理论严格证明了闭环系统的稳定性，通过仿真验证了控制器的有效性。

关键词: 高超声速飞行器, 协同控制, 容错控制, 预定时间控制, 量化

Abstract:

Aiming at the cooperative control problem of six degrees of freedom（6-DOF） hypersonic vehicle with actuator faults and signal quantization, a predetermined time quantization fault-tolerant controller is designed. Firstly, the 6-DOF hypersonic vehicle model is decomposed into position subsystem, velocity subsystem, and attitude subsystem on the time-scale, and a control-oriented model is established by combining the quantization model and the faults model. Secondly, pre-defined time controllers are designed for the three subsystems to ensure that the hypersonic vehicle completes the formation flight within the pre-defined time. An adaptive tracking method is designed to compensate for the effects of faults and signal quantization. Finally, the stability of the closed-loop system is rigorously proved based on Lyapunov theory, and the effectiveness of the controller is verified by simulation.

Key words: hypersonic vehicle, cooperative control, fault-tolerant control, pre-defined time control, quantization

中图分类号:

V 448

王婕, 孙笑轩, 李擎, 卢昊. 高超声速飞行器预定时间量化容错协同控制[J]. 系统工程与电子技术, 2026, 48(5): 1728-1737.

Jie WANG, Xiaoxuan SUN, Qing LI, Hao LU. Pre-defined time quantization fault-tolerant cooperative control for hypersonic vehicle[J]. Systems Engineering and Electronics, 2026, 48(5): 1728-1737.

图/表 12

图1

图2

表1

表2

图3

图4

图5

图6

图7

图8

图9

图10

参考文献 31

1	王冠, 茹海忠, 张大力, 等. 弹性高超声速飞行器智能控制系统设计[J]. 系统工程与电子技术, 2022, 44 (7): 2276- 2285. doi: 10.12305/j.issn.1001-506X.2022.07.24
	WANG G, RU H Z, ZHANG D L, et al. Design of intelligent control system for flexible hypersonic vehicle[J]. Systems Engineering and Electronics, 2022, 44 (7): 2276- 2285. doi: 10.12305/j.issn.1001-506X.2022.07.24
2	QI Y K, MA X F, JIANG P X, et al. Review on heat-to-power conversion technologies for hypersonic vehicles[J]. Chinese Journal of Aeronautics, 2024, 37 (5): 148- 179. doi: 10.1016/j.cja.2023.11.002
3	权申明, 王松艳, 晁涛, 等. 基于改进人工势场法的再入制导方法[J]. 系统工程与电子技术, 2023, 45 (7): 2158- 2169.
	QUAN S M, WANG S Y, CHAO T, et al. Reentry guidance method based on improved artificial potential field method[J]. Systems Engineering and Electronics, 2023, 45 (7): 2158- 2169.
4	PETERS A B, ZHANG D J, CHEN S, et al. Materials design for hypersonics[J]. Nature Communications, 2024, 15 (1): 3328. doi: 10.1038/s41467-024-46753-3
5	GUO S Q, LIU W, ZHANG C A, et al. Simplified analytical models for hypersonic lateral-directional stability[J]. Acta Astronautica, 2022, 198, 431- 444. doi: 10.1016/j.actaastro.2022.06.024
6	CAO W J, ZHANG D, FENG G. Resilient semi-global finite-time cooperative output regulation of heterogeneous linear multi-agent systems subject to denial-of-service attacks[J]. Automatica, 2025, 173, 112099. doi: 10.1016/j.automatica.2024.112099
7	DENG C, XU L, YANG T, et al. Distributed cooperative optimization for nonlinear heterogeneous MASs under intermittent communication[J]. IEEE Trans. on Automatic Control, 2024, 69 (4): 2737- 2744. doi: 10.1109/TAC.2023.3339435
8	刘正洋, 周丽, 张瑞. 随机参数摄动下的高超声速飞行器姿态控制[J]. 系统工程与电子技术, 2024, 46 (2): 703- 714.
	LIU Z Y, ZHOU L, ZHANG R. Attitude control of hypersonic vehicle with random parameter perturbations[J]. Systems Engineering and Electronics, 2024, 46 (2): 703- 714.
9	董泽洪, 李颖晖, 吕茂隆, 等. 考虑输入受限的高超声速飞行器非奇异固定时间自适应切换控制[J]. 系统工程与电子技术, 2023, 45 (5): 1476- 1488.
	DONG Z H, LI Y H, LYU M L, et al. Singularity-free fixed-time adaptive switching control for hypersonic flight vehicle with input constraints[J]. Systems Engineering and Electronics, 2023, 45 (5): 1476- 1488.
10	GOU X Y, LIU J K, LIU B J, et al. Backstepping control of hypersonic vehicles under input and output constraints with model uncertainties and disturbances[J]. International Journal of Control, 2025, 98 (5): 1147- 1159.
11	WANG H, ZHOU D, ZHANG Y Q, et al. Compound control design of near-space hypersonic vehicle based on a time-varying linear quadratic regulator and sliding mode method[J]. Aerospace, 2024, 11 (7): 567. doi: 10.3390/aerospace11070567
12	水晓冰, 王晓芳, 林平, 等. 高超声速飞行器编队方法[J]. 战术导弹技术, 2020, (5): 139- 148.
	SHUI X B, WANG X F, LIN P, et al. A formation control method of multiple hypersonic missiles[J]. Tactical Missile Technology, 2020, (5): 139- 148.
13	阎洪磊, 陆远, 郭杰, 等. 欠驱动高超滑翔飞行器集群协同编队控制方法[J]. 空天防御, 2024, 7 (1): 57- 62.
	YAN H L, LU Y, GUO J, et al. Cluster cooperative formation control method for underactuated hypersonic vehicle[J]. Air & Space Defense, 2024, 7 (1): 57- 62.
14	AN K, GUO Z Y, HUANG W, et al. A cooperative guidance approach based on the finite-time theory for hypersonic vehicles[J]. International Journal of Aeronautical and Space Sciences, 2022, 23 (1): 169- 179. doi: 10.1007/s42405-021-00416-5
15	WU X, WEI C S, CHEN T Y, et al. On novel distributed fixed-time formation tracking of multiple hypersonic flight vehicles with collision avoidance[J]. Aerospace Science and Technology, 2023, 141, 108517. doi: 10.1016/j.ast.2023.108517
16	LV M L, SCHUTTER B D, BALDI S. Nonrecursive control for formation-containment of HFV swarms with dynamic event-triggered communication[J]. IEEE Trans. on Industrial Informatics, 2023, 19 (3): 3188- 3197. doi: 10.1109/TII.2022.3163573
17	YANG S, PAN Y, PAN L, et al. Predefined-time fault-tolerant consensus tracking control for multi-UAV systems with prescribed performance and attitude constraints[J]. IEEE Trans. on Aerospace and Electronic Systems, 2024, 60 (4): 4058- 4072. doi: 10.1109/TAES.2024.3371406
18	SUN J G, LI C M, GUO Y, et al. Adaptive fault tolerant control for hypersonic vehicle with input saturation and state constraints[J]. Acta Astronautica, 2020, 167, 302- 313.
19	王世豪, 曹腾, 高艺. 基于学习观测器的高超声速飞行器容错控制[J]. 飞行力学, 2025, 43 (4): 62- 68.
	WANG S H, CAO T, GAO Y. Learning observer-based fault-tolerant tracking control for hypersonic vehicle[J]. Flight Dynamics, 2025, 43 (4): 62- 68.
20	WANG L, QI R Y, WEN L Y, et al. Adaptive multiple-model-based fault-tolerant control for non-minimum phase hypersonic vehicles with input saturations and error constraints[J]. IEEE Trans. on Aerospace and Electronic Systems, 2023, 59 (1): 519- 540. doi: 10.1109/TAES.2022.3185576
21	禹志龙, 李颖晖, 裴彬彬, 等. 基于事件触发采样的无尾翼飞机自适应容错姿态控制[J]. 系统工程与电子技术, 2024, 46 (3): 1058- 1066.
	YU Z L, LI Y H, PEI B B, et al. Adaptive fault-tolerant attitude control of tailless aircraft based on event-triggered sampling[J]. Systems Engineering and Electronics, 2024, 46 (3): 1058- 1066.
22	史浩宇. 多旋翼飞行器的三维时变编队量化控制[J]. 火力与控制指挥, 2020, 45 (9): 122- 128.
	SHI H Y. Quantitative control of three-dimensional time-varying formation for multi-rotor aircraft[J]. Fire Control & Command Control, 2020, 45 (9): 122- 128.
23	马梓元, 万茹, 龚华军, 等. 异构多智能体输出调节量化自适应跟踪控制[J]. 宇航学报, 2024, 45 (3): 469- 477. doi: 10.3873/j.issn.1000-1328.2024.03.014
	MA Z Y, WAN R, GONG H J, et al. Heterogeneous multi-agent output adjustment quantization adaptive tracking control[J]. Journal of Astronautics, 2024, 45 (3): 469- 477. doi: 10.3873/j.issn.1000-1328.2024.03.014
24	SHI Y, SHAO X L, ZHANG W D. Quantized learning control for flexible air-breathing hyper-sonic vehicle with limited actuator bandwidth and prescribed performance[J]. Aerospace Science and Technology, 2020, 97, 105629.
25	SHAO X L, SHI Y, ZHANG W D. Fault-tolerant quantized control for flexible air-breathing hypersonic vehicles with appointed-time tracking performances[J]. IEEE Trans. on Aerospace and Electronic Systems, 2021, 57 (2): 1261- 1273. doi: 10.1109/TAES.2020.3040519
26	钱杏芳, 林瑞雄, 赵亚男. 导弹飞行力学[M]. 北京: 北京理工大学出版社, 2000.
	QIAN X F, LIN R X, ZHAO Y N. Missile flight mechanics[M]. Beijing: Beijing Institute of Technology Press, 2000.
27	吴森堂. 飞航导弹制导控制系统随机鲁棒分析与设计[M]. 北京: 国防工业出版社, 2010.
	WU S T. Stochastic robustness analysis and design for guidance and control system of winged missile[M]. Beijing: National Defense Industry Press, 2010.
28	王忠森, 廖新宇, 魏才盛, 等. 高超声速飞行器快速终端滑模保性能容错控制[J]. 航空学报, 2023, 44 (24): 328476.
	WANG Z S, LIAO X Y, WEI C S, et al. Fast terminal sliding mode fault-tolerant control of hypersonic vehicle with guaranteed performance[J]. Acta Aeronautica et Astronautica Sinica, 2023, 44 (24): 328476.
29	ZHANG M J, ZANG H Y, BAI L Y. A new predefined-time sliding mode control scheme for synchronizing chaotic systems[J]. Chaos, Solitons and Fractals., 2022, 164
30	ZHAO Z J, ZHANG J, LIU Z J, et al. Adaptive quantized fault-tolerant control of a 2-DOF helicopter system with actuator fault and unknown dead zone[J]. Automatica, 2023, 148 (1): 110792.
31	ZHANG B Y, SUN X X, LV M L, et al. Distributed adaptive fixed-time fault-tolerant control for multiple 6-DOF UAVs with full-state constraints guarantee[J]. IEEE Systems Journal, 2022, 16 (3): 4792- 4803. doi: 10.1109/JSYST.2021.3128973

参数	飞行器1	飞行器2	飞行器3
$y$/m	28000	25000	27000
$z$/m	0	−2500	3000
速度/（m·s⁻¹）	1800	1820	1780
攻角/（$^\circ $）	5	5	5

参数	数值
$p$	2/13
$q$	4/13
$ \eta $	0.25
${c_1}$	30
${\gamma _1}$	30
${\gamma _2}$	30
${\sigma _1}$	0.75
${\sigma _2}$	0.75
${c_2}$	0.1
${c_3}$	12
${\gamma _3}$	15
${\gamma _4}$	15
${\sigma _3}$	0.5
${\sigma _4}$	0.5
$ {\eta _1} $	0.09

[1]	安帅斌, 刘泓麟, 董哲, 刘君, 刘凯. 吸气式高超声速飞行器高性能姿态控制方法[J]. 系统工程与电子技术, 2026, 48(6): 2042-2051.
[2]	张杰, 常天庆, 王晓卫, 郝文龙, 汤鑫. 基于可见光与红外特征融合的轻量化目标检测方法[J]. 系统工程与电子技术, 2026, 48(5): 1481-1491.
[3]	王旭, 蔡光斌, 余晓亚, 叶子绮, 单斌. 基于双动态PPO算法的高超声速飞行器姿态控制[J]. 系统工程与电子技术, 2026, 48(2): 694-704.
[4]	黄迅, 陈柏屹, 彭寿勇, 刘燕斌, 杨犇, 庞浩然. 控制约束下的高超声速飞行器轨迹优化策略[J]. 系统工程与电子技术, 2025, 47(5): 1646-1654.
[5]	邢胜杰, 赵冬, 任文静. 基于事件触发的柔性机械臂执行器故障补偿[J]. 系统工程与电子技术, 2025, 47(4): 1311-1318.
[6]	黄绍洧, 都延丽, 刘燕斌, 王跃萍, 刘武. 有限时间收敛的自适应滑模协同末制导[J]. 系统工程与电子技术, 2025, 47(3): 961-969.
[7]	郭立民, 黄文青, 陈前, 王佳宾. 轻量化的ML-SNet雷达复合干扰识别算法[J]. 系统工程与电子技术, 2025, 47(2): 418-427.
[8]	赵万兵, 夏元清, 戴荔, 张元. 弱通信下无人潜航器事件触发一致性协同控制[J]. 系统工程与电子技术, 2025, 47(2): 591-599.
[9]	廖宇新, 许炜平, 陈琪锋, 殷泽阳. 高超声速飞行器机动突防制导控制一体化设计[J]. 系统工程与电子技术, 2025, 47(12): 4153-4165.
[10]	朱金钊, 周荻, 陈晓波, 蔡明春. 临近空间高超声速飞行器快时变机动模型及轨迹预报[J]. 系统工程与电子技术, 2025, 47(1): 244-253.
[11]	胡洋, 刘学超, 李化义, 曹芊. 多星姿态协同中的几何鲁棒控制[J]. 系统工程与电子技术, 2024, 46(9): 3118-3127.
[12]	孙先涛, 江汪洋, 陈文杰, 陈伟海, 智亚丽. 基于感兴趣区域的物体抓取位姿检测[J]. 系统工程与电子技术, 2024, 46(6): 1867-1877.
[13]	刘绍华, 杜康, 佘春东, 杨傲. 基于CenterNet的多教师联合知识蒸馏[J]. 系统工程与电子技术, 2024, 46(4): 1174-1184.
[14]	袁心悦, 陈洪, 丁璐, 宋磊, 黄丹. 基于安全性建模的民机ILS信号设计[J]. 系统工程与电子技术, 2024, 46(4): 1255-1263.
[15]	黄思佳, 宋纯锋, 李璇. 基于可变尺度先验框的声呐图像目标检测[J]. 系统工程与电子技术, 2024, 46(3): 771-778.