卷弧翼滚转导弹Lipschitz自适应轨迹线性化控制

根据非对称卷弧翼滚转导弹运动特点,建立了包含系统不确定参数、结构损伤干扰、观测噪声等因素的三通道有控运动模型,提出了一种基于Lipschitz自适应观测器补偿控制的轨迹线性化控制(trajectory linearization control,TLC)改进算法。根据时标分离原则将控制系统分为快慢两个回路并设计TLC控制器。通过求解线性矩阵不等式组的方法得出了非线性Lipschitz状态观测器,对未知干扰参数进行估计,并依据参数估计值和反馈的状态设计了干扰补偿控制律,从而改善了TLC算法性能。仿真实验表明,提出的改进算法可以使导弹姿态运动较好地跟踪控制指令,实现了导弹滚转运动和角运动控制的解耦,保证了导弹系统能够抑制气动/结构参数摄动、观测噪声和强突发未知干扰等情况的影响,提高了导弹姿态控制的鲁棒性和准确性。

Control of wrap-around fin rolling missiles based on#br# Lipschitz adaptive trajectory linearization

The three channel control model with uncertainty parameters, structural damage disturbance and observation noise for asymmetric wrap-around fin rolling missiles is estab lished according to the movement cha racteristic. An improved trajectory linearization control (TLC) method based on Lipschitz adaptive observer is proposed. The controller is derived by the time-scale separation principle. The Lipschitz nonlinear state observer is systematically obtained by solving the linear matrix inequality approach. The damage disturbance model of fin is established and the parameters are estimated. The compensation control law based on the estimated parameters and state feedback improves the TLC method. Simulation experiments show that the improved method can make the missile attitude motion track control command accurately, and the robustness and accuracy of missile attitude control are ensured under the condition of the system parameters uncertainty, observation noise and the random suddenly unknown disturbance.