【摘要】 针对姿态角受约束的重复使用运载器(RLV)再入段姿态跟踪控制问题，提出了一种基于障碍变换的预设时间控制方法。首先建立了面向控制系统设计的RLV动力学模型，设计障碍函数对动力学模型中受约束的状态量进行变换，得到等价无约束变量及控制模型；然后针对变换后控制模型，基于反步法思想设计了预设时间控制律，采用指令滤波器避免微分膨胀问题，并引入RBF网络对再入过程中RLV所受不确定扰动进行了补偿。Lyapunov方法证明了姿态跟踪误差可在预设时间内收敛至原点附近邻域，且姿态角满足时变约束。数值仿真验证了所提方法可保证姿态角满足约束，实现姿态跟踪误差预设时间收敛，且具有更佳的跟踪控制性能。更多还原

【Abstract】 A novel predefined-time control method based on barrier transformation is proposed for reusable launch vehicle(RLV) during re-entry with constrained attitude. Firstly, the control-oriented dynamic model of RLV is established, and the constrained states are transformed via the barrier function, whereby the equivalent unconstrained variables and dynamic model are acquired. Subsequently, the predefined-time control scheme is developed based on the idea of backstepping. The “explosion of complexity” problem is circumvented by the command filter, and the RBF network is introduced to estimate and compensate the unknown disturbance during re-entry. It is proven that the attitude tracking errors can converge to the nearest neighbor of the origin within predefined time, and the time-varying constraints of attitude are not violated. Numerical simulations results show that the proposed method can ensure that the attitude angles meet the constraints, realize the predefined-time convergence of the attitude tracking error, and has better tracking control performance.更多还原