中文摘要：

针对执行机构故障和参数摄动的高超声速飞行器纵向巡航跟踪要求，提出了基于扩张状态观测器的容错预测控制方法。利用输入输出反馈线性化，对高超声速飞行器模型进行变换；并采用泰勒展开作为预测模型，建立了连续预测控制器。对于系统中由升降舵面偏转角随机漂移故障和参数摄动引起的综合不确定项，设计扩张状态观测器进行在线估计。通过分析，证明了闭环控制系统的稳定性和观测误差的有界性。仿真结果表明，该方法对高超声速飞行器纵向巡航跟踪控制具有良好的容错性能。

英文摘要：

A fault tolerant predictive control method based on extended state observer is proposed for the cruise tracking requirement of longitudinal model of the hypersonic vehicle with actuator fault and parameter perturbation. The vehicle model is transformed by using the input-to-output feedback linearization method. The Talyor expansion is taken as the predictive model to establish continuous predictive controller. The extended state observer is employed online to estimate the lump uncertainties resulted from elevator deflection drifting fault and parameter perturbation. The stability of the closed-loop control system and boundedness of observe errors are proven respectively. The result of illustrative simulation shows that the effectiveness of the proposed method over the cruise tracking of longitudinal hypersonic vehicle.