基于扩张状态观测器的双旋弹丸舵翼转速预测控制

针对存在于固定鸭舵式弹道修正弹舵翼滚转系统中的参数不确定性和不确定性非线性问题，提出一种基于输出反馈型扩张状态观测器的直接模型预测控制方法.该方法以扩张状态观测器估计系统扰动并以前馈补偿的方式融入控制器设计，结合较精确的舵翼滚转模型实现滚转状态预测和控制.在转速更新时间间隔内对非线性参数进行线性化处理，将复杂的积分遍历运算转换为低阶函数直接求解问题，大幅度降低了运算量.仿真实验结果表明:该方法能快速准确地对状态和干扰进行估计，且与传统控制方法相比，具有精度高、响应快、抗干扰及参数变化能力强的特点. 

Direct Model Predictive Rotating Speed Control for Rudder in Dual-Spin Projectile with Output-Feedback Extended State Observer

The rotating system of the fixed rudder canards in the dual-spin trajectory correction projectile is a typical nonlinear system with parametric uncertainties and uncertain nonlinearities. A direct model predictive control (DPC) based on the output-feedback extended state observer (ESO) was proposed for rotation speed control. The general disturbance was estimated and added to the controller design as feedforward compensation by ESO while DPC completed rotating speed prediction and control based on the compensated dynamic roll model. The time-varying nonlinear parameters were linearly processed in the extremely short state update time interval to decrease the computation amount, where the complex integral traversal operation was converted into a low-order equation solution problem. The simulation results reveal that the proposed method can accurately estimate the system states and disturbance, and hence it possesses the advantages of high accuracy, rapid response, strong robustness and adaptability.