针对高超声速飞行器参数不确定运动学模型, 考虑弹性状态影响, 提出了一种自适应反演控制器设计方法。分别采用动态逆和反演方法设计速度子系统和高度子系统控制律, 利用一阶低通滤波器来获取高度子系统中虚拟控制量的导数, 避免了传统反演设计中的“微分项膨胀”问题; 引入投影算子对飞行器模型不确定参数进行自适应调整, 同时避免了可能出现的参数漂移问题。仿真结果表明, 该控制器对模型不确定参数和气动弹性影响具有鲁棒性, 且实现了对速度指令和高度指令良好的跟踪效果。

An adaptive backstepping controller is exploited for a hypersonic vehicle in the presence of uncertain parameters and flexible dynamics. The control laws of velocity subsystem and altitude subsystem are proposed respectively based on dynamic inversion and backstepping design procedure. Low-pass first order filters are introduced to obtain the time derivatives of virtual control laws in altitude subsystem, thus to avoid the explosion of differentiation terms in traditional backstepping design. The uncertain parameters are updated adaptively by using a projection operator, and the possible parameter drift problem is eliminated. Simulation results show that the developed controller is robust to the model uncertain parameters and the flexible effects, and moreover, it can provide fine tracking performance of the velocity and altitude reference trajectories.