随着导弹飞行速度和机动性的提高,其动力学特性中的强耦合和非线性为控制器设计带来了巨大挑战。针对导弹在外部干扰环境下的姿态控制问题为其设计了自抗扰无源控制器。首先基于能量耗散理论,通过将闭环控制回路配置成无源系统,方便地得到了空间3个方向的控制力矩表达式;然后利用浸入不变流形方法设计出了具有确定收敛特征的外部扰动观测器。最后,通过仿真算例证实了该方案能够稳定控制导弹姿态并有效抑制外部干扰的影响。

With the increase of the flying speed and maneuverability of missile, the strong coupling and nonlinearity in its dynamic characteristics pose great challenges for controller design. Aiming at the attitude control problem of missile subject to external disturbance, a passive attitude controller with anti-interference characteristics is designed. First, the control torque expressions in the three space directions are conveniently obtained by configuring the closed control loop as a passive system relying on the energy dissipation theory. Then, an external disturbance observer with definite convergence characteristics is designed employing the immersion and invariance method. Finally, a numerical simulation sample is performed and the results validate that this scheme can stabilize the missile attitude and effectively resist the influence of external disturbances.