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| 1 | An overview on flight dynamics and control approaches for hypersonic vehicles显示文摘With the capability of high speed flying, a more reliable and cost efficient way to access space is provided by hypersonic flight vehicles. Controller design, as key technology to make hypersonic flight feasible and efficient, has numerous challenges stemming from large flight envelope with extreme range of operation conditions, strong interactions between elastic airframe, the propulsion system and the structural dynamics.This paper briefly presents several commonly studied hypersonic flight dynamics such as winged-cone model,truth model, curve-fitted model, control oriented model and re-entry motion. In view of different schemes such as linearizing at the trim state, input-output linearization, characteristic modeling, and back-stepping, the recent research on hypersonic flight control is reviewed and the comparison is presented. To show the challenges for hypersonic flight control, some specific characteristics of hypersonic flight are discussed and the potential future research is addressed with dealing with actuator dynamics, aerodynamic/reaction-jet control, flexible effects,non-minimum phase problem and dynamics interaction. | XU Bin SHI ZhongKe | 2015 | Science China(Information Sciences)2015，58，7： | 58 |
| 2 | Stability analysis of a hypersonic vehicle controlled by the characteristic model based adaptive controller显示文摘The closed loop attitude stability of a hypersonic vehicle controlled by the characteristic model-based all-coefficient adaptive controller is studied in this paper,and an algorithm based on the computation of induced matrix 1-norm or ∞-norm is proposed.First of all,the Taylor series expansion is applied to discretize the inputoutput description of the attitude dynamics of the vehicle.The obtained difference equations have the same structure as characteristic model;thus the intervals which contain all possible values of certain characteristic model parameters are obtained.When the linear feedback controller is used in the feedback loop,with some conservation,the closed loop system is viewed as a class of interval time-varying systems defined by a number of free time-varying parameters.These free parameters take values from predefined intervals.The sufficient and necessary condition for the stability of this class of system is given.Finally,a sufficient condition for the stability of hypersonic vehicle attitude control loop is proposed and demonstration example is presented.The method proposed checks up the stability of the closed loop system by evaluating a finite number of matrix norms,and overcomes the difficulties brought by the time-varying nature of the characteristic model and parameter estimation. | ZHANG Zhao HU Jun | 2012 | Science China(Information Sciences)2012，55，10： | 19 |
| 3 | Non-fragile switching tracking control for a flexible air-breathing hypersonic vehicle based on polytopic LPV model显示文摘This article proposes a linear parameter varying (LPV) switching tracking control scheme for a flexible air-breathing hypersonic vehicle (FAHV). First, a polytopic LPV model is constructed to represent the complex nonlinear longitudinal model of the FAHV by using Jacobian linearization and tensor-product (T-P) model transformation approach. Second, for less conservative controller design purpose, the flight envelope is divided into four sub-regions and a non-fragile LPV controller is designed for each parameter sub-region. These non-fragile LPV controllers are then switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a specified performance criterion. The desired non-fragile LPV switching controller is found by solving a convex constraint problem which can be efficiently solved using available linear matrix inequality (LMI) techniques, and robust stability analysis of the closed-loop FAHV system is verified based on multiple Lypapunov functions (MLFs). Finally, numerical simulations have demonstrated the effectiveness of the proposed approach. | Huang Yiqing Sun Changyin Qian Chengshan Wang Li | 2013 | Chinese Journal of Aeronautics2013，26，4： | 19 |
| 4 | Nonlinear hierarchy-structured predictive control design for a generic hypersonic vehicle显示文摘A hierarchy-structured predictive controller is designed and analyzed for rotation motion dynamics of a generic hypersonic vehicle(GHV).This vehicle model has fast variability,is highly nonlinear,and includes uncertain parameters.The controller contains two subsystems,the inner-fast-loop nonlinear generable predictive controller(NGPC)and the outer-slow-loop NGPC,both of which are designed by the closed-form optimal generable predictive control method.Thus,the heavy on-line computational burden in the classical predictive control method is avoided.The hierarchy structure of the control system decreases the relative degree of each subsystem and helps increase the dynamic response speed of the attitude controller.In order to improve the robustness of the control system,a feedback correction algorithm is proposed that corrects the calculation error between the predictive model and the real dynamic model.Simulation studies are conducted for the trimmed cruise conditions of an altitude of 33.5 km and Mach 15 to investigate the responses of the vehicle to the step commands of angle of attack,sideslip angle,and bank angle.The simulation studies demonstrate that the proposed controller is robust with respect to the parametric uncertainties and atmospheric disturbance,and meets the performance requirements of GHV with acceptable control inputs. | WANG Peng TANG GuoJian LIU LuHua WU Jie | 2013 | Science China(Technological Sciences)2013，56，8： | 18 |
| 5 | 考虑执行器动态和输入受限的近空间飞行器鲁棒可重构跟踪控制显示文摘针对多变量、不稳定的近空间飞行器姿态系统,在系统存在参数不确定和外部干扰的情况下,并考虑执行器动态和输入受限,提出一种鲁棒可重构跟踪控制策略.首先,利用二阶滑模干扰观测器分别重构姿态、角速率回路的复合干扰;其次,采用鲁棒二阶滑模积分滤波器的反推(backstepping)方法避免了控制器设计中微分项膨胀问题,利用鲁棒项抵消重构误差对系统的影响,以实现姿态控制器设计.然后,在考虑执行器动态、输入受限及舵面卡死故障下,给出一种线性矩阵不等式的在线优化舵面分配算法,以实现飞行器的姿态角渐近跟踪期望的制导指令.最后,仿真结果表明所提出的方法具有良好的跟踪控制性能. | 张强 吴庆宪 姜长生 王玉惠 | 2012 | 控制理论与应用2012，29，10： | 18 |
| 6 | Adaptive fault-tolerant controller design for airbreathing hypersonic vehicle with input saturation显示文摘The problem of fault-tolerant control is discussed for the longitudinal model of an airbreathing hypersonic vehicle(AHV) with actuator faults and external disturbances.Firstly,a fault-tolerant control strategy is presented for the longitudinal model of an AHV,which guarantees that velocity and altitude track their reference trajectories at an exponential convergence rate.However,this method needs to know the minimum value of the actuator efficiency factor and the upper bound of the external disturbances,which makes it not easy to implement.Then an improved adaptive fault-tolerant control scheme is proposed,where two adaptive laws are employed to estimate the upper bound of the external disturbances and the minimum value of the actuator efficiency factor,respectively.Secondly,the problem of designing a control scheme with control constraints is further considered,and a new adaptive fault-tolerant control strategy with input saturation is designed to guarantee that velocity and altitude track their reference trajectories.Finally,simulation results are given to show the effectiveness of the proposed methods. | Haibin Sun Shihua Li Changyin Sun | 2013 | Journal of Systems Engineering and Electronics2013，24，3： | 12 |
| 7 | 具有状态约束的机电伺服系统自适应鲁棒控制显示文摘针对执行器动态及其状态受限、状态中存在测量噪声的问题,为伺服系统设计了一种基于非线性高增益观测器的自适应非线性鲁棒跟踪方法.基于系统位置测量值设计高增益观测器,利用滤波器消除噪声对观测器精度的影响,采用自适应律估计观测器增益,以保证观测器的鲁棒性.在设计过程中,引入一种新的障碍Lyapunov函数,以限制中间控制信号的幅值而满足系统对状态变量的约束要求,并通过Lyapunov方法验证了闭环系统的一致有界稳定性.结果表明,所提出的方法能够准确估算负载位置和速度.与传统的控制方法相比,其所观测的信息量较充分、估计精度较高、抗干扰能力及参数变化的鲁棒性较强. | 吴跃飞 胡智琦 马大为 姚建勇 乐贵高 | 2014 | 上海交通大学学报2014，48，5： | 12 |
| 8 | Sliding mode decoupling control of a generic hypersonic vehicle based on parametric commands显示文摘A sliding mode decoupling attitude controller based on parametric commands is proposed for a generic hypersonic vehicle(GHV). This vehicle model has fast time variability and strong coupling, is highly nonlinear, and includes uncertain parameters. The design of the controller takes these features into account.First, for the purpose of decoupling, the inner loop of the controller is designed using the dynamic inversion(DI) method. Input/output linearization is achieved using full-state feedback to globally linearize the nonlinear dynamics of selected controlled outputs. Second, to improve the robustness of the attitude control system, the sliding mode control(SMC) method is used to design the outer loop of the controller. Although the DI and SMC methods result in decoupling and robustness, there exists serious inconsistency between the commands of the attitude angles and the commands of the first-order differential of the attitude angles. To solve this problem and achieve a trade-off between dynamic response speed and attitude-tracking precision, we propose a parametric method for calculating the commands of the first-order differential of the attitude angles. Finally,simulation studies are conducted for the trimmed cruise conditions of 33.5 km altitude and Mach 15, and the responses of the vehicle to the step commands of pitch angle, yaw angle, and rolling angle are examined. The simulation studies demonstrate that the proposed controller is robust with respect to the uncertain parameters and atmospheric disturbance and meets the performance requirements of the GHV with acceptable control inputs. | WANG Peng TANG GuoJian WU Jie | 2015 | Science China(Information Sciences)2015，58，5： | 6 |
| 9 | Parameters identification of UCAV flight control system based on predator-prey particle swarm optimization显示文摘With the improvement of the aircraft flight performance and development of computing science,uninhabited combat aerial vehicle(UCAV) could accomplish more complex tasks.But this also put forward stricter requirements for the flight control system,which are the crucial issues of the whole UCAV system design.This paper proposes a novel UCAV flight controller parameters identification method,which is based on predator-prey particle swarm optimization(PSO) algorithm.A series of comparative experimental results verify the feasibility and effectiveness of our proposed approach in this paper,and a predator-prey PSO-based software platform for UCAV controller design is also developed. | DUAN HaiBin YU YaXiang ZHAO ZhenYu | 2013 | Science China(Information Sciences)2013，56，1： | 5 |
| 10 | 吸气式高超声速飞行器特征模型自适应控制显示文摘针对吸气式高超声速飞行器纵向刚体动力学的跟踪控制问题,给出了基于特征模型的自适应控制方案。通过选取攻角作为额外的输出,给出了这类系统的特征建模方法,其中,系统被分为速度子系统和高度子系统。针对速度子系统,建立了一阶特征模型;针对高度子系统,建立了二阶多输入多输出特征模型。基于所得到的特征模型,本文设计了全系数自适应控制律,不仅实现了速度跟踪和高度跟踪,也实现了攻角跟踪。数值仿真验证了该方法的有效性。 | 李公军 | 2016 | 宇航学报2016，37，11： | 5 |
| 11 | A new self-learning optimal control laws for a class of discrete-time nonlinear systems based on ESN architecture显示文摘A novel self-learning optimal control method for a class of discrete-time nonlinear systems is proposed based on iteration adaptive dynamic programming(ADP)algorithm.It is proven that the iteration costate functions converge to the optimal one,and a detailed convergence analysis of the iteration ADP algorithm is given.Furthermore,echo state network(ESN)architecture is used as the approximator of the costate function for each iteration.To ensure the reliability of the ESN approximator,the ESN mean square training error is constrained in the satisfactory range.Two simulation examples are given to demonstrate that the proposed control method has a fast response speed due to the special structure and the fast training process. | SONG RuiZhuo XIAO WenDong SUN ChangYin | 2014 | Science China(Information Sciences)2014，57，6： | 4 |
| 12 | Static output feedback stabilization for systems with time-varying delay based on a matrix transformation method显示文摘This paper is concerned with the problem of static output feedback stabilization for linear systems with time-varying delay. A novel controller design is proposed based on a matrix transformation method with a new equation condition, which can solve the controller gain more easily and avoid complicated calculations of the non-linear matrix inequality. Then, the corresponding criteria can be obtained by combining the matrix transformation method and the ideas of non-uniformly dividing delay interval, which can guarantee the asymptotic stability of the closed-loop systems and calculate the satisfactory controller gain. Finally, two numerical examples are provided to verify the effectiveness of the proposed design scheme. | LIU Zhen Wei ZHANG HuaGuang SUN QiuYe | 2015 | Science China(Information Sciences)2015，58，1： | 4 |
| 13 | 吸气式高超声速飞行器控制技术综述与展望显示文摘作为空天领域的制高点,吸气式高超声速飞行器以超燃冲压发动机为主动力,飞行马赫数大于5,但其控制技术尚不成熟。简要回顾了面向控制的AHV模型,包括两种典型的纵向动力学模型以及其他代表性工作。综述了近二十年AHV控制领域的重要理论成果,涵盖反步法、自适应等多种现代控制方法。结合AHV工程中亟待解决的大包线飞行控制、气动舵/直接力复合控制、推进/热防护系统协调控制等实际问题,对AHV控制技术的发展进行了若干展望。 | 王常虹 安昊 | 2021 | 飞航导弹2021，，6： | 2 |
| 14 | 近空间飞行器滑翔再入控制的研究方法与进展显示文摘介绍了高超声速近空间飞行器(NSV)滑翔再入控制的研究进展情况。首先,针对飞行环境中气动舵面效率低下的问题,综述了NSV再入的多种控制方式及其复合控制方式;然后,对NSV再入过程中存在的非线性不确定控制问题、多约束控制问题以及强耦合控制问题,分别就国内外的研究现状进行了分析与评述;最后,探讨了NSV再入控制研究方法的发展趋势。 | 尹佳杰 都延丽 陆宇平 | 2013 | 飞行力学2013，31，3： | 2 |
| 15 | 基于扩张状态观测器的反馈线性化无人飞行器姿态控制显示文摘随着集成电子等技术逐渐成熟,无人飞行器得到了广泛的关注和应用;其中,由于飞行器在飞行阶段具有高响应速度、耦合动力学和非线性等特点,使其在飞行阶段的姿态控制成为该领域重点研究的方向之一;针对该研究方向,文章提出了一种基于反步法技术的反馈线性化无人飞行器姿态跟踪控制方案来解决其在受到环境干扰的条件下可以精准跟踪姿态角度的问题;在该方法中,设计了反步法技术拆分简化模型和反馈线性化减少调节参数,并利用扩张状态观测器(ESO)来对扰动进行估计和补偿,同时给出了ESO的收敛性和闭环系统的稳定性来证明该方法的可实施性;最后给出了仿真结果,验证了该方法在干扰的环境下仍可以精准控制无人飞行器姿态。 | 姜鸿儒 徐利 邱令存 李迪 董诗音 | 2021 | 计算机测量与控制2021，29，4： | 2 |
| 16 | Robust tracking control design for a flexible air-breathing hypersonic vehicle显示文摘A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle(AHV) which is subjected to system parametric uncertainties and unknown additive time-varying disturbances.The longitudinal dynamic model for the flexible AHV was used for the control development.High-gain observers were designed to compensate for the system uncertainties and additive disturbances.Small gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop system.Locally uniformly ultimately bounded tracking of the vehicle's velocity,altitude and attack angle were achieved under aeroelastic effects,system parametric uncertainties and unknown additive disturbances.Matlab/Simulink simulation results were provided to validate the robustness of the proposed control design.The simulation results demonstrate that the tracking errors stay in a small region around zero. | 张垚 鲜斌 刁琛 赵勃 郭建川 | 2014 | Journal of Central South University2014，21，1： | 2 |
| 17 | Scheme for the Balance Between Stability and Maneuverability of Hypersonic Vehicle显示文摘Since the aerodynamic center moving backward sharply in hypersonic flight,the stability margin of the hypersonic vehicle increases largely while the maneuverability decreases.We proposed a novel method to solve this contradiction.We used relaxed static stability(RSS)to improve the maneuverability in hypersonic flight,and designed the stability augmentation system(SAS)to ensure the stability in subsonic flight.Therefore,the relationship between static stability and maneuverability was quantitatively analyzed in the first step,and the numerical value of RSS was obtained on the premise of good maneuverability.Secondly,the relationship between static stability and aerodynamic parameters was quantitatively analyzed.We properly adjusted aerodynamic parameters based on the quantitative relationship to achieve the specific static stability set in the first step,and therefore provided the engineering realization methods.The vehicle will be statically unstable in subsonic flight with the specific static stability.Lastly,SAS was needed to ensure the stability of the vehicle in subsonic flight.Simulation studies were conducted by comparing the linear SAS to the nonlinear SAS,and the results showed that the nonlinear dynamicinversion controller can synthesize with proportional-integrall-derivative(PID)controller robustly and stabilize the hypersonic vehicle. | Wu Yushan Jiang Ju Zhen Ziyang Jiao Xin Gu Chenfeng | 2017 | Transactions of Nanjing University of Aeronautics and Astronautics2017，34，6： | 1 |
| 18 | 基于自适应观测器的飞行器抗干扰控制显示文摘针对近空间飞行器(NSV)在高超音速飞行时气动参数变化剧烈且容易受到外界干扰的特点,提出快速自适应干扰观测器抗干扰方法.建立近空间飞行器的数学模型,进行抗干扰自适应观测器的设计.通过调整自适应参数和设计补偿项的自适应律,在自适应律中增加非线性指数项,提高了干扰观测系统对复合干扰的逼近速度,使其能够在有限时间内将系统误差收敛为零.对闭环系统性能进行严格的理论分析.在高超声速条件下对NSV进行仿真验证,结果表明,设计的控制方案具有更好的快速性和收敛性. | 贺乃宝 高倩 徐启华 姜长生 | 2013 | 浙江大学学报(工学版)2013，47，4： | 0 |
| 19 | TD-LTE游牧中继及回传链路设计与测试显示文摘TD-LTE中继作为无线蜂窝网络中的一个节点,具有提升小区边缘用户吞吐量,扩展网络覆盖以及提供高速无线回传链路的能力.爱立信作为TD-LTE中继技术的领导者开发了'TD-LTE游牧中继'带内中继试验系统,接入链路完全兼容3GPP TD-LTER8协议,使TD-LTE中继能够放置于不同的地理位置,使用商用或者预商用终端对中继部署的外场无线环境及性能进行试验,对TD-LTE在外场部署的特点和性能研究具有重大的意义.本文中对游牧中继在无线网络中的性能以及无线回传信道进行了场外研究测试,通过TD-LTE在外场测试中的性能分析对TD-LTE中继的现场部署给出了位置及天线朝向等方面的建议,本文研究中发现TD-LTE中继在非直视类型的回传链路环境下对小区边缘的吞吐量仍然具有极大的提高. | 郭志恒 钱雨 范锐 王亥 | 2012 | 中国科学:信息科学2012，42，10： | 0 |
| 20 | 具有多重随机干扰的NSV自适应鲁棒轨迹跟踪控制显示文摘针对具有随机噪声输入干扰、泊松随机波动干扰和控制输入饱和的近空间飞行器(near space vehicle, NSV)纵向轨迹控制模型,提出一种自适应鲁棒轨迹跟踪随机控制方案,实现对高度和速度参考信号的有效跟踪。对于外环轨迹控制,分别针对高度子系统和速度子系统,设计鲁棒随机控制器,通过数值计算方法对等效控制输入转化,得到内环姿态控制所需的姿态角参考信号。针对内环姿态控制问题,基于反步控制(backstepping control, BC)方法、动态面控制(dynamic surface control, DSC)技术和随机鲁棒控制方法,设计一种基于辅助系统的自适应鲁棒随机控制方案,实现随机干扰下的NSV姿态精确跟踪,衰减多重随机噪声干扰和参数不确定的影响,获得满意的鲁棒H∞控制性能。数值仿真进一步验证了所提方案的有效性。 | 闫晓辉 姚玉武 吴昱桦 徐江新 | 2023 | 系统仿真学报2023，35，11： | 0 |
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