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摘要: 针对高超声速飞行器(Hypersonic flight vehicle, HFV)在未知环境干扰与执行器故障下的跟踪控制问题, 提出一种基于Tube的复合鲁棒模型预测控制方法. 首先, 基于非线性动态逆方法将高超声速飞行器纵向运动模型输入/输出线性化, 并实现了高度与速度控制回路的解耦. 随后, 结合Tube不变集理论推导鲁棒收紧约束, 并显式集成HFV的控制输入及其增量约束, 设计一种复合鲁棒模型预测控制策略. 此外, 还研究了所提方法的递归可行性, 同时基于Lyapunov稳定性理论严格证明控制策略的闭环稳定性. 最后, 仿真实验验证了所提方法的有效性.Abstract: This paper addresses the tracking control problem for hypersonic flight vehicle (HFV) subject to unknown environmental disturbances and actuator faults. A composite tube-based robust model predictive control approach is proposed. Firstly, the input/output linearization of the HFV longitudinal motion model is achieved by using the nonlinear dynamic inversion method, effectively decoupling the altitude and velocity control loops. Subsequently, robust tightened constraints are derived by incorporating tube invariant set theory, explicitly integrating both the control input magnitude and rate constraints of the HFV. Based on these constraints, a composite robust model predictive control strategy is designed. Furthermore, the recursive feasibility of the proposed method is investigated, while the closed-loop stability of the control strategy is rigorously proven based on Lyapunov stability theory. Finally, simulation experiments demonstrate the effectiveness of the proposed method.
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图 4 参数不确定性下的控制量增量变化
Fig. 4 Incremental changes in control variables under parameter uncertainty
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