基于高阶固定时间观测器的高超变体飞行器预设性能控制

doi:10.12305/j.issn.1001-506X.2025.05.24

摘要/Abstract

摘要：

针对高超声速变体飞行器模型不确定性、外部时变扰动、控制输入饱和、系统状态约束等问题, 设计一种基于高阶固定时间扰动观测器的预设性能控制方法。首先，建立高超声速变体飞行器动力学模型, 考虑控制量饱和问题设计抗饱和辅助函数。其次, 通过对观测器扰动估计项的微分扩展设计高阶固定时间扰动观测器以提高对综合扰动量的估计精度。考虑系统状态约束设计预设有限时间函数对系统跟踪误差进行约束。基于障碍李雅普诺夫函数和预设有限时间收敛理论, 通过反步法设计控制器使得输出状态的跟踪误差在预设时间内收敛到原点邻域。同时，为避免对虚拟控制律连续微分导致“计算爆炸”问题, 将内环时变扰动与虚拟控制律的微分视为内环综合扰动, 以高阶固定时间扰动观测器的扰动估计输出作为控制律的补偿项。通过李雅普诺夫稳定性理论证明了闭环控制系统的收敛性与稳定性。最后，通过对比仿真实验证明所提方法具有收敛速度快、跟踪精度高、鲁棒性强等特点。

关键词: 高超声速变体飞行器, 高阶固定时间扰动观测器, 预设有限时间函数, 预设性能, 抗饱和辅助函数

Abstract:

In view of the problem of model uncertainty, external time-varying disturbances, control input saturation, and system state constraints in hypersonic morphing vehicles, a prescribed performance control method based on high-order fixed-time disturbance observer is designed. Firstly, a dynamic model of hypersonic morphing aircraft is established and anti-saturation auxiliary functions is designed considering the problem of control saturation. Secondly, to enhance the estimation accuracy of the comprehensive disturbance, a high-order fixed-time disturbance observer is designed by differentiating the observer disturbance estimation term. Based on the obstacle Lyapunov function and the prescribed finite-time convergence theory, a controller is designed using a backstepping method to ensure that the tracking error of the output state converges to the origin neighborhood within the prescribed time. At the same time, to circumvent the "computational explosion" issue associated with the continuous differentiation of virtual control laws, the time-varying disturbance of the inner loop and the differentiation of the virtual control law are treated as the comprehensive disturbance of the inner loop, and the disturbance estimation output of the high-order fixed-time disturbance observer is used as the compensation term of the control law. The Lyapunov stability theory substantiates the convergence and stability of the closed-loop control system. Finally, the designed simulation and comparative experiments confirm that the proposed method is characterized by rapid convergence, high tracking precision, and robust stability.

Key words: hypersonic morphing vehicle, high-order fixed-time disturbance observer, prescribed finite-time function, prescribed performance, anti-saturation auxiliary function

中图分类号:

TJ765

李毅恒, 夏群利, 王明凯. 基于高阶固定时间观测器的高超变体飞行器预设性能控制[J]. 系统工程与电子技术, 2025, 47(5): 1627-1637.

Yiheng LI, Qunli XIA, Mingkai WANG. Prescribed performance control of hypersonic morphing vehicle based on high-order fixed-time observer[J]. Systems Engineering and Electronics, 2025, 47(5): 1627-1637.

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