基于执行器误差补偿的不确定非线性MIMO系统控制

Nonlinear Uncertain MIMO System Control Based on Actuator Error Compensation

摘要:

针对高超音速飞行器执行器饱和的问题,在考虑全维运动及系统不确定项的情况下,提出了一种基于执行器误差补偿的非线性反步自适应控制方法,该方法通过引入执行器误差动态补偿机制,使得当控制输入超出其自身幅值限制时,能够立刻恢复到其幅值限制范围内,且引入小波神经网络自适应律和鲁棒项确保闭环系统是最终一致有界稳定,通过仿真验证了所设计方法的有效性。

Abstract:

For actuator saturation problem of the hypersonic vehicle which is a complex nonlinear uncertain system, research is done based on designing nonlinear backstepping control law. The error of actuators is used to compensate. When the controller overruns, it can come back immediately.Combine error compensation with robust adaptive backstepping control to realize system can satisfy the limits of actuator deflection amplitude, while restraining system’s uncertainties influence. The wavelet neural network and robust items are designed to make the whole control system has the gain which is less than or equal to the prescribed positive const.The nonlinear control law is effective through the simulation. 