中文摘要：

针对高超声速飞行器大跨度机动飞行所引起的本质非线性及强耦合动力学特性、执行机构输入受限、多源气动参数摄动及外部环境干扰并存情况下的姿态跟踪控制问题,结合模型辅助自抗扰控制技术,构建并阐述了基于轨迹线性化控制框架的集抗饱和与主动干扰补偿于一体的姿态控制体系。首先,面向控制角度,将姿态和角速率子系统描述为带不确定性的严格反馈形式;其次,基于自抗扰控制的设计思路,采用跟踪微分器对姿态标称指令及其微分安排过渡过程,解决单一轨迹线性化控制中的执行机构饱和问题;分别针对姿态与角速率回路构造包含模型信息的扩张状态观测器对总干扰进行观测并补偿,克服大范围不确定性对闭环跟踪性能的影响;基于轨迹线性化控制思想,分别设计前馈跟踪控制律和反馈镇定控制律,实现姿态跟踪误差沿着标称指令镇定。仿真结果表明,该控制方案能够实现给定大幅度制导指令下的高精度抗干扰控制,且对于再入过程中的多源干扰大范围摄动具有较强的适应能力。

英文摘要：

With consideration of attitude control problem for hypersonic vehicle capable of wide-envelop maneuvering flight in the presence of strong nonlinearity and coupling effects, actuator saturation problem, as well as the variations of multiple aerodynamic parameters and external disturbance, and in combination with model-assisted Active Disturbance Rejection Control（ ADRC） technique, a Trajectory Linearization Control（ TLC） based coordinated control framework with characteristics of anti-saturation and active disturbance rejection is constructed and discussed. Firstly, for the simplicity of control, the attitude and angular rate subsystem is described in strict feedback form with uncertainties. Secondly, based on the principle of ADRC, tracking differentiator is applied to arrange the nominal attitude command and its derivative to handle the actuator saturation problem existed in TLC design.Extended state observers with model information incorporated are designed in dual-loop to estimate the lumped disturbances to reduce the effects on tracking performances. Thirdly, based on the principle of TLC, feedforward tracking law and stabilizing control law are developed, based on which, attitude tracking error can be stabilized along the nominal command. The simulation results show that the proposed control scheme exhibits great robustness against multiple disturbances during reentry flight, and anti-disturbance control with high precision under large guidance command can be satisfied.