基于预设性能的欠驱动飞行器横侧向通道控制方法

A control method combining the prescribed performance function and dynamic surface control is designed for the underactuated problem caused by the lateral channel of hypersonic vehicle only through aileron control. The lateral underactuated system is transformed into a roll-yaw cascade control system. For the rolling rotor circuit, the limiting of sideslip angle command is regarded as the saturation problem of control input. A prescribed performance function is designed, and a control strategy is proposed based on the dynamic surface control theory, which realizes the active control of the tracking speed, transient tracking error and stable tracking accuracy of a bank angle. Then, aiming at the requirement that the sideslip angle needs to be stabilized in a given range, based on the limiting sideslip angle instruction, a prescribed performance function of yaw sub-loop is designed, which theoretically ensures that the sideslip angle meets the stabilization range requirements and can achieve the specified tracking accuracy at the required tracking speed. Finally, the stability of the lateral attitude controller is proved based on the Lyapunov stability principle. The simulated results show that the proposed control method can be used to make the bank angle reach the specified tracking accuracy at the required tracking speed and the transient tracking error satisfies the given boundary; the sideslip angle satisfies the given limited range; and the controller has good robustness.