| 引用本文: | 郭一鸣,闫建国,肖冰,吴慈航,邢小军.采用固定时间观测器的翼伞控制方法与应用[J].控制理论与应用,2023,40(2):390~399.[点击复制] |
| GUO Yi-ming,Yan Jian-guo,Xiao Bing,Wu Ci-hang,Xing Xiao-jun.Fixed-time disturbance observer-based parafoil control method and application[J].Control Theory and Technology,2023,40(2):390~399.[点击复制] |
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| 采用固定时间观测器的翼伞控制方法与应用 |
| Fixed-time disturbance observer-based parafoil control method and application |
| 摘要点击 875 全文点击 348 投稿时间：2021-12-20 修订日期：2022-11-21 |
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| DOI编号 10.7641/CTA.2022.11247 |
| 2023,40(2):390-399 |
| 中文关键词 非线性控制系统 姿态控制 路径跟踪 固定时间 观测器 |
| 英文关键词 nonlinear control systems attitude control trajectory tracking fixed time observers |
| 基金项目 国家自然科学基金项目(61771399), 陕西省自然科学基础研究计划项目(2020JM–123)资助. |
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| 中文摘要 |
| 针对翼伞–火箭一子级柔性结构系统的控制难题, 提出了一种采用固定时间观测器的改进矢量场轨迹跟踪
控制方法. 首先, 设计了在线风场估计方法对未知风场进行了估计; 其次, 为了保证该控制系统在气动参数不确
定、子系统铰连耦合等因素影响下的快速稳定性, 提出了一种固定时间干扰观测器用来估计无需知道干扰上边界
的复合干扰, 并用于补偿控制系统的输入; 然后, 设计了一个同时保证侧偏距、偏航角以及偏航角速率稳定的横侧
向控制器, 并利用Lyapunov理论证明了闭环翼伞控制系统的收敛特性. 最后, 通过数值仿真及硬件在环实验验证了
所提出方法的有效性及应用价值. |
| 英文摘要 |
| To address the control problem of the flexible parafoil-booster system, a modified vector field path following
control scheme with a fixed-time disturbance observer is proposed. Firstly, an online wind field estimation approach is
introduced to obtain the unknown wind environment. Secondly, in order to ensure the fast stability of the parafoil-booster
control system subject to the negative influence of aerodynamic uncertainties and the hinge coupling between these two
subsystems, a fixed-time disturbance observer is designed to estimate the composite disturbance without knowing the upper
boundary of the disturbance. The estimation result is used to compensate for the input of the control system. Thirdly,
a lateral controller is developed to simultaneously ensure the stability of lateral deflection moment, yaw angle, and yaw
rate. The closed-loop parafoil control system has been proved by using the Lyapunov theory. Finally, the effectiveness and
application value of the proposed method is verified by numerical simulation and hardware-in-loop testing. |
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