CAJ | 학술논문

飞行器非线性动力学模型通常包含由未知外界干扰和未建模动态构成的非匹配不确定性。针对建立的飞行器纵向运动仿射非线性模型，提出了一种基于非线性干扰观测器（nonlinear disturbance observer，NDO）的自适应反推非奇异终端滑模（adaptive backstepping nonsingular terminal sliding mode，AB-NTSM）轨迹跟踪控制方法。设计非线性干扰观测器对未知干扰进行观测补偿，无需干扰上界先验知识。设计未建模动态自适应律，提高控制器对系统不确定性的鲁棒性。对3种不同情况的仿真表明，干扰观测器能够实现对不同干扰精确观测，仅在干扰突变时有较大观测误差。在不确定性影响下，采用提出的控制方法，系统能够实现对指定轨迹的稳定跟踪，并有效消除控制信号的抖振。
비행기비선성동역학모형통상포함유미지외계간우화미건모동태구성적비필배불학정성。침대건립적비행기종향운동방사비선성모형，제출료일충기우비선성간우관측기（nonlinear disturbance observer，NDO）적자괄응반추비기이종단활모（adaptive backstepping nonsingular terminal sliding mode，AB-NTSM）궤적근종공제방법。설계비선성간우관측기대미지간우진행관측보상，무수간우상계선험지식。설계미건모동태자괄응률，제고공제기대계통불학정성적로봉성。대3충불동정황적방진표명，간우관측기능구실현대불동간우정학관측，부재간우돌변시유교대관측오차。재불학정성영향하，채용제출적공제방법，계통능구실현대지정궤적적은정근종，병유효소제공제신호적두진。
Aircraft nonlinear dynamic systems usually include unmatched uncertainties consisting of un-known external disturbances and unmodelled dynamic terms.The affine nonlinear model of aircraft longitudinal motion is constructed.An adaptive backstepping nonsingular terminal sliding mode (AB-NTSM)control scheme is proposed for trajectory tracking,which is based on the nonlinear disturbance observer (NDO).With-out the prior information of upper bounds of external disturbances,NDOs and adaptive laws are designed for ex-ternal disturbances and unmodelled dynamic terms respectively,which can strengthen system robustness for un-certainties.Simulations of three kinds of cases are given,which demonstrate that NDOs can realize accurate ob-servation of different kinds of external disturbances.Big observation errors only exist when the disturbance is discontinuous.Under the effects of system uncertainties,the proposed AB-NTSM control scheme can realize stable tracking of desired trajectory,and the chattering of the system input can be effectively suppressed.