Research on Integral Sliding Mode Active Disturbance Rejection Control for Hypersonic Vehicles

doi:10.3969/j.issn.1009-086x.2024.05.006

Abstract

Abstract:

Aiming at the uncertainty problem of hypersonic vehicles， a tracking strategy combining active disturbance rejection control and integral sliding mode control is proposed. The hypersonic vehicle model is transformed into a velocity subsystem and an altitude subsystem， where the velocity subsystem is a first-order system， and the altitude subsystem consists of the altitude loop， track angle loop， and pitch angle loop. Tracking differentiator is used to arrange the transition process of the system， and extended state observer is used to estimate the total disturbance. The integral sliding mode control law is designed to replace the nonlinear state error feedback control law. The results show that the designed tracking control strategy has strong robustness to hypersonic vehicle uncertainty. Compared with the traditional sliding mode active disturbance rejection control， it has more advantages in adjustment time， tracking accuracy and control signal smoothness.

Key words: hypersonic vehicles, uncertainty problem, active disturbance rejection control, integral sliding mode control, robustness

摘要：

针对高超声速飞行器不确定性问题，提出了一种自抗扰控制与积分滑模控制结合的跟踪策略。通过对高超声速飞行器模型的分析，将其转变为速度子系统和高度子系统，其中速度子系统是典型的一阶系统，高度子系统则由高度环、航迹角环、俯仰角环组成。采用跟踪微分器安排系统的过渡过程，使用扩张状态观测器对系统总扰动进行估计。设计积分滑模控制律代替自抗扰控制中的非线性状态误差反馈控制律。结果表明所设计的跟踪控制策略对不确定性具有很强的鲁棒性，与传统滑模自抗扰控制相比，其在调节时间、跟踪精度和控制信号平滑性方面更有优势。

关键词: 高超声速飞行器, 不确定性问题, 自抗扰控制, 积分滑模控制, 鲁棒性

CLC Number:

V448

Weiqiang TANG, Chengchao JIA, Wenke SHI, Tianpeng XU. Research on Integral Sliding Mode Active Disturbance Rejection Control for Hypersonic Vehicles[J]. Modern Defense Technology, 2024, 52(5): 40-50.

唐伟强, 甲成超, 石文科, 许天鹏. 高超声速飞行器积分滑模自抗扰控制研究[J]. 现代防御技术, 2024, 52(5): 40-50.

Figures/Tables 16

Fig. 1 Integral sliding mode active disturbance rejection control structure of hypersonic vehicles

Fig. 2 Integral sliding mode active disturbance rejection control structure diagram

Table 1 Parameters of traditional sliding mode active disturbance rejection controller

参数	值	参数	值	参数	值
$α v *$	0.5	$a h *$	0.78	$ε γ *$	$10 - 12$
$δ v *$	0.25	$h h *$	0.05	$c γ *$	1
$k γ *$	0.001	$c θ *$	8	$k θ *$	10
$ε θ *$	0.01

Table 1 Parameters of traditional sliding mode active disturbance rejection controller

参数	值	参数	值	参数	值
$α v *$	0.5	$a h *$	0.78	$ε γ *$	$10 - 12$
$δ v *$	0.25	$h h *$	0.05	$c γ *$	1
$k γ *$	0.001	$c θ *$	8	$k θ *$	10
$ε θ *$	0.01

Table 2 Parameters of integral sliding mode active disturbance rejection controller

参数	值	参数	值	参数	值
$r v$	3	$β 1 θ$	200	$δ 2 θ$	0.05
$r h$	10	$β 2 θ$	400	$δ 3 θ$	0.05
$r γ$	10	$β 3 θ$	600	$ε v$	8
$r θ$	10	$a v$	0.5	$q v$	2
$h v$	0.001	$a h$	0.5	$k v$	10
$h h$	0.001	$a γ$	0.5	$k h P$	3
$h γ$	0.001	$a 2 θ$	0.5	$k h I$	0.000 6
$h θ$	0.001	$a 3 θ$	0.5	$k γ$	10
$β 1 v$	400	$a 2 γ$	0.5	$k θ P$	16
$β 2 v$	800	$δ v$	0.05	$k θ I$	64
$β h$	8 000	$δ h$	0.05	$ε θ$	2
$β 1 γ$	200	$δ γ$	0.05	$q θ$	100
$β 2 γ$	800	$δ 2 γ$	0.25	$β$	0.02

Table 2 Parameters of integral sliding mode active disturbance rejection controller

参数	值	参数	值	参数	值
$r v$	3	$β 1 θ$	200	$δ 2 θ$	0.05
$r h$	10	$β 2 θ$	400	$δ 3 θ$	0.05
$r γ$	10	$β 3 θ$	600	$ε v$	8
$r θ$	10	$a v$	0.5	$q v$	2
$h v$	0.001	$a h$	0.5	$k v$	10
$h h$	0.001	$a γ$	0.5	$k h P$	3
$h γ$	0.001	$a 2 θ$	0.5	$k h I$	0.000 6
$h θ$	0.001	$a 3 θ$	0.5	$k γ$	10
$β 1 v$	400	$a 2 γ$	0.5	$k θ P$	16
$β 2 v$	800	$δ v$	0.05	$k θ I$	64
$β h$	8 000	$δ h$	0.05	$ε θ$	2
$β 1 γ$	200	$δ γ$	0.05	$q θ$	100
$β 2 γ$	800	$δ 2 γ$	0.25	$β$	0.02

Fig. 3 Altitude response curve under nominal conditions

Fig. 4 Velocity response curve under nominal conditions

Fig. 5 Others response curve under nominal conditions

Fig. 6 Control input curve under nominal conditions

Fig. 7 Altitude response curve under disturbances

Fig. 8 Velocity response curve under disturbances

Fig. 9 Others response curve under disturbances

Fig. 10 Control input curve under disturbances

Fig. 11 Altitude response curve under actuator fault

Fig. 12 Velocity response curve under actuator fault

Fig. 13 Others response curve under actuator fault

Fig. 14 Control input curve under actuator fault

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