含有输入动特性不确定飞控系统的自适应滑模控制

针对含有执行器动特性和严重不确定性的非线性飞控系统，提出一种非线性自适应滑模控制器. 该控制方案的主要特征是对系统不确定性没有匹配条件的限制. 控制器由两部分组成：一部分根据称为标称模型的已知非线性模型进行控制器设计，另一部分根据建模误差的估计参数设计自适应滑模控制器. 对某飞机的非线性6自由度未解耦模型进行仿真，验证了该方法对系统不确定性具有较强的鲁棒性，对期望输出有良好的跟踪精度.

Adaptive Sliding-Mode Control for Uncertain Flight System with Actuator Dynamics

Dynamics of high-performance aircraft are highly nonlinear, time-varying and strongly coupled. Conventional control designs are based on the assumption that the system works at a specific operating point and described by linear perturbation equations. In addition, the longitudinal motion is assumed to be independent of lateral motion. Therefore the equations can be decoupled and treated independently. The objective of this work is to develop a new sliding mode control (SMC) designs for the nonlinear flight model with actuator dynamics. The key feature of the scheme is that prior knowledge of uncertainties of both the upper bound and matched condition is not required. The controller consists of a nominal controller and an adaptive sliding controller. The proposed SMC technique is applied to a nonlinear 6-DOF flight dynamics model. Simulations demonstrate robustness and accurate tracking in the presence of system uncertainties.