Adaptive dynamic surface control of NSVs with input saturation using a disturbance observer
Adaptive dynamic surface control of NSVs with input saturation using a disturbance observer
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DOI：
10.1016/j.cja.2015.04.020
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发表时间：
2015-06
影响因子：
5.7
通讯作者：
Mou Chen;Jing Yu
中科院分区：
文献类型：
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作者：
Mou Chen;Jing Yu
针对存在外部干扰、系统不确定性和输入饱和的近空间飞行器（NSV）的多输入多输出（MIMO）姿态运动，提出了一种自适应动态面控制（DSC）方法。利用Nussbaum扰动观测器（NDO）有效地处理外部扰动和系统不确定性，并结合动态面控制技术构造自适应控制器，以解决传统反推方法中固有的“复杂性爆炸”问题。为了处理输入饱和问题，设计了一个与所研究的MIMO姿态系统同阶的辅助系统。利用饱和输入与期望控制输入之间的误差作为所设计的辅助系统的输入，产生一系列信号来补偿动态表面控制设计中的饱和影响。证明了所提出的控制方案能够保证闭环控制系统的所有信号是半全局一致有界的。仿真结果表明，在输入饱和和外部扰动的综合作用下，所提出的控制方案能够获得满意的跟踪性能。
An adaptive dynamic surface control (DSC) scheme is proposed for the multi-input and multi-output (MIMO) attitude motion of near-space vehicles (NSVs) in the presence of external disturbance, system uncertainty and input saturation. The external disturbance and the system uncertainty are efficiently tackled using a Nussbaum disturbance observer (NDO), and the adaptive controller is constructed by combining the dynamic surface control technique to handle the problem of “explosion of complexity” inherent in the conventional backstepping method. For handling the input saturation, an auxiliary system is designed with the same order as that of the studied MIMO attitude system. Using the error between the saturation input and the desired control input as the input of the designed auxiliary system, a series of signals are generated to compensate for the effect of the saturation in the dynamic surface control design. It is proved that the developed control scheme can guarantee that all signals of the closed-loop control system are semi-globally uniformly bounded. Finally, simulation results illustrate that the proposed control scheme can achieve satisfactory tracking performance under the composite effects of the input saturation and the external disturbance.