【摘要】 为解决非定常影响下的跨介质飞行器加速段深度控制问题，设计一种基于有限时间收敛状态观测器的快速非奇异终端滑模控制器。考虑通气空泡不稳定上限设计通气规律，得到非定常空泡形态方程，建立考虑尾部沾湿区域时变的跨介质飞行器加速段数学模型，简化为控制器设计导向的误差模型。为处理系统中的复杂扰动，设计模型参考形式的有限时间收敛状态观测器对系统不确定性进行观测补偿，并基于高阶滑模趋近律设计非奇异终端滑模控制器，完成控制系统设计，并通过Lyapunov理论证明了闭环控制系统的稳定性。仿真结果表明，所设计的控制器可有效抑制扰动对系统的影响，可实现考虑加速非定常影响下的跨介质飞行器深度与姿态的高精度控制。更多还原

【Abstract】 In order to solve the problem of depth control of trans-media aircraft under the unsteady influence of the acceleration phase, a fast convergence non-singular terminal sliding mode controller based on finite time convergence state observer is designed. Considering the ventilated law of the upper limit of ventilation cavitation instability, the equation of unsteady cavity shape is obtained, and the mathematical model of the acceleration phase of the trans-media aircraft considering the time-varying wetting area of the tail is established, and then it is simplified to the error model oriented by the controller design. In order to deal with the complex disturbance in the system, a finite time convergence state observer referenced by the model is designed to observe and compensate for the system uncertainty, and a non-singular terminal sliding mode controller based on the high order sliding mode reaching law is designed to complete the control system design, the stability of the closed-loop control system is proved by Lyapunov theory. The simulation results show that the controller can effectively suppress the influence of disturbance on the system, and realize the high-precision control of the depth and attitude of the trans-media aircraft considering the unsteady influence of the acceleration phase.更多还原