低速巡飞器倾斜转弯鲁棒反演控制律设计

针对低速巡飞器倾斜转弯非线性控制系统存在耦合、不确定项的特点，设计了一种倾斜转弯（BTT）鲁棒反演控制律。将巡飞器的动力学模型写成适用于反演算法的块控模型，假设其由标称模型与不确定项组成，利用微积分学中的Leibniz法则推导不确定项。采用反演算法推导控制律的基本形式，并通过改进的符号函数抵消非匹配不确定项，利用Lyapunov理论重新设计技术补偿匹配不确定项。仿真结果表明，与传统反演法相比，该系统能够快速、准确地跟踪攻角、侧滑角、倾斜角参考指令，具有强鲁棒性。

Design of Robust Backstepping Controller for Bank-to-turn of Low-speed Cruise Vehicles

In view of coupling and uncertain characteristics of nonlinear control system for bank-to-turn (BTT) low-speed cruise vehicles,a robust backstepping controller is designed to follow the control command.The dynamic model of cruise vehicles is transformed into a block form which is suitable for backstepping algorithm.The block form is assumed to be composed of a nominal model and uncertain terms.The uncertain terms are derived and described by using the Leibniz rule in infinitesimal calculus.On this basis,the basic form of the control law is derived by exploiting backstepping algorithm.The modification of robust function,i.e.,a new symbolic function,is conducted to compensate the unmatched uncertainties.Lyapunov redesign technique is introduced to control the matched uncertainties.Comparative simulation cases are implemented to validate the improved robust backstepping algorithm.The results indicate that the presented control response can quickly track the commands of angle of attack,sideslip angle and bank angle,which shows the strong robustness of the system.