高超飞行器的非线性预测姿态控制

针对高超飞行器姿态动力学模型多约束、多变量耦合和非线性的特点,采用预测控制理论设计了时变自适应控制器.根据奇异摄动理论将复杂的动力学分解为快慢内外环动力学,直接对非线性系统伪线性化建模,把非线性优化问题转化为线性时变系统的次优化;将指标约束、输入约束、稳定约束转化为线性矩阵不等式(LMI)约束,在线滚动优化求解预测反馈控制律.结果表明,该控制方案保证了闭环系统的稳定性.

Nonlinear Predictive Attitude Control of Hypersonic Vehicle

Aiming at the characteristics of constraint, multivariable coupling and nonlinear of dynamic equations for the hypersonic vehicle, time-varying adaptive controller was designed by predictive control theory. Based on the singular perturbation theory, nonlinear dynamic equations was separated into fast and slow loops as angular velocity and attitude angular. The nonlinear attitude dynamic was pseudo-linearly modeled. The primary nonlinear optimal problem was transformed into sub-optimal formula of linear time-varying system. The feedback control law was solved online by receding horizon optimal. Input constraints, index constraint and stability constraint were transformed into linear matrix inequalities constraints. The result shows that the control law can keep the closed-loop steady.