基于高阶固定时间观测器的高超变体飞行器预设性能控制

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关键词：高超声速变体飞行器；高阶固定时间扰动观测器；预设有限时间函数；预设性能；抗饱和辅助函数中图分类号：TJ765 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.05.24

Abstract：In view of the problem of model uncertainty，external time-varying disturbances，control input saturation，and system state constraints in hypersonic morphing vehicles，a prescribed performance control method basedon high-order fixed-time disturbance observeris designed.Firstly，a dynamic modelof hypersonic morphing aircraft is established andanti-saturation auxiliary functions is designed considering the problem of controlsaturation.Secondly，to enhance the estimation accuracyof the comprehensive disturbance，a high-order fixed-time disturbance observer is designed by diferentiating the observer disturbance estimation term.Based on the obstacle Lyapunov functionand the prescribed finite-time convergence theory，acontroller is designed using abackstepping method toensurethatthe tracking erorof the output state converges to the origin neighborhood within the prescribed time.At the same time，to circumvent the“computational explosion”issue associated with thecontinuous differentiation of virtual control laws，the time-varying disturbance of the inner loopand the diferentiationof the virtual control laware treatedasthecomprehensive disturbanceof the innerloop，and the disturbance estimation output of the high-order fixed-timedisturbanceobserver is used as the compensation term of thecontrollaw.The Lyapunov stability theory substantiates theconvergenceand stabilityof theclosed-loop control system.Finally，the designed simulationand comparative experiments confirm that the proposed method is characterized by rapid convergence，high tracking precision，and robust stability.

Keywords：hypersonic morphing vehicle；high-order fixed-time disturbance observer；prescribed finite-time function；prescribed performance；anti-saturation auxiliary function

0 引言

高超声速变体飞行器（hypersonicmorphingvehicle，HMV因具有打击范围广、飞行速度快、突防能力强等特点而受到世界各国的广泛关注[1]。（剩余18632字）