中文摘要：

针对高超声速飞行器输出跟踪问题，提出了一种基于观测器的分层模糊自适应鲁棒控制器的设计方法。本文设计了一种基于分层模糊系统的间接自适应控制器，减少在线辨识参数的数量；同时设计非线性干扰观测器（NDO）对系统复合干扰进行估计补偿；最后引入鲁棒补偿控制项，克服传统非线性干扰观测器的限制条件，并利用Lyapunov理论证明了整个系统的稳定性。仿真结果表明，该方法不仅能够保证高超声速飞行器具有良好跟踪性能，而且具有很强的鲁棒性。

英文摘要：

According to deal with the output tracking problem of a hypersonic vehicle with parameters un- certainty, an adaptive robust controller is proposed based on nonlinear disturbance observer（NDO）. In order to solve the problem that the number of rules in a fuzzy controller are increased exponentially by the number of variables involved and reduce the number of the parameters to be identified on-line to enhance the real- time pe~ormanee of the control system, an adaptive controller based on hierarchical fuzzy systems is de- signed. The NDO is designed to approximate the composite disturbance. To overcome the restrictions of the traditional NDO, the robust compensation terms are introduced. The Lyapunov theory is applied to analyze the stability of the system. The simulation results demonstrate that the system can not only track the input exactly and but also possess strong robust.