Iterative Learning Control Combination with Adaptive Sliding Mode Technique for a Hypersonic Vehicle

高超声速飞行器滑模自适应迭代学习控制系统设计

Institute of Precision Guidance and Control, Northwestern Polytechnical University, Xi'an 710072, China

Received: 23 October 2018

Abstract

Aiming at the complicated nonlinearities, high uncertainties and strong coupling of hypersonic vehicle, a new adaptive iterative learning control method is put forward. The proposed controller combined iterative learning control with sliding mode control. Firstly, a nonlinear design model for the attitude control is established according to the attitude motion equations of hypersonic vehicle. With regard to a class of nonlinear system, a new iterative learning control combination with sliding mode control is proposed and then applied to the nonlinear design model. Finally, Lyapunov-like function method is used to prove the boundedness of all signals of the closed-loop system and the convergence of the tracking errors to zero over iterations. Simulation results are provided to show the effectiveness and robustness of the proposed control scheme compared with traditional sliding mode control. Furthermore, it also possesses stronger robustness against uncertainties and disturbances.

摘要

针对高超声速飞行器再入过程中的强耦合和干扰所带来的非匹配不确定控制问题，提出一种新型自适应迭代学习控制系统的设计方法。研究结合采用先进控制方法与迭代学习控制策略。首先给出面向控制的高超声速飞行器姿态模型。然后针对一类非线性系统，提出一种结合滑模控制的新型迭代学习控制系统设计方法，并将其应用到所提出的面向控制的姿态模型。最后应用Lyapunov泛函来证明闭环系统跟踪误差的收敛性和变量的有界性。仿真展示所提方法能使飞行器快速稳定地跟踪指令，对比传统滑模控制说明本方法具有针对气动不确定项和干扰项的强鲁棒性。