中文摘要：

针对含有内部不确定和未建模扰动的飞行器姿态控制问题,提出了一种模糊自适应快速终端滑模控制方法。首先,分析了传统飞行器姿态模型的局限性,并建立了基于修正罗德里格参数的姿态误差模型。进而应用模糊自适应快速终端滑模方法进行控制器设计,系统的参数不确定和未建模扰动由模糊系统在线逼近。最后,利用Lyapunov定理证明了闭环误差系统的渐进稳定结论。仿真分析中,分别设计了姿态镇定和姿态跟踪控制对本文提出的方法进行验证,仿真结果表明,设计的模糊自适应律能够有效实现对于系统模型内部不确定性和外界扰动所构成的复合扰动的精确、快速估计,且快速终端滑模控制器能够获得比传统滑模控制方法更快的收敛速度。

英文摘要：

Aiming at the attitude tracking control of an aircraft with internal uncertainties and external disturbances, a fuzzy adaptive based fast terminal sliding model control scheme is proposed. First, the limitation of traditional attitude model of the aircraft is analyzed, and the modified Rodrigues parameters is selected to establish the system error model. Hence, a fast terminal sliding mode controller is presented based on fuzzy adaptive, by which the system uncertainties are approximated online. At last, the aymptotically stability conslusion of the overall system is presented based on Lyapunov theorem. In the simulations, two cases of attitude stabilization and tracking are carried out to show the effectiveness of the proposed method. Simulation results show that the designed fuzzy adaptive law can estimate the disturbances caused by internal uncertainties and external disturbances quickly and accurately. Meanwhile, the fast terminal sliding mode controller process a faster convergence speed than the traditional sliding mode control.