针对高超声飞行器模型参数不确定和外界干扰对姿态控制的影响, 基于高超声速飞行器俯仰通道控制系统, 提出一种新的Terminal滑模姿态控制方法。通过引入一阶滤波器, 结合反演法, 克服原来幂次形式引起的最终控制奇异问题；并通过设计的干扰观测器实时观测未知干扰, 补偿控制器性能, 应用Lyapunov稳定性理论严格证明了系统的稳定性, 从而保证Terminal滑模控制器能有效提高系统动态特性。在气动参数标称与拉偏的情形下进行高超声速飞行器数字仿真, 仿真结果说明干扰观测器能快速跟踪干扰, 且所设计的Terminal滑模控制可以满足飞行器高精度的控制要求。

A kind of Terminal sliding mode controlling method is proposed for hypersonic vehicle with modeling uncertainties and external disturbance.Based on hypersonic vehicle pitch channel control system,a new integral type Terminal sliding mode is put forward.By introducing the first order filter and combined with Backstepping method,the singularity problem is eliminated.The compensation of controller performance is realized by means of the disturbance observer.The stability of the system is proved with Lyapunov theory to ensure the improvement of the dynamic performance of the system.The performances and robustness are analyzed through hypersonic flight simulations.The simulation results show that: 1）The disturbance observer can follow the tracks of the disturbance rapidly；and 2）The Terminal sliding mode controlling method can guarantee the stability and high control precision under the conditions of nominal parameter and large-scale parameter perturbation.