【摘要】 针对滚-俯控式变质心飞行器的姿态控制问题，考虑系统中存在的状态与控制输入受限以及复杂飞行环境扰动的问题，提出了一种双速率前馈-反馈组合控制算法。首先，给出了单质量块滚-俯控式变质心飞行器的构型与姿态动力学模型，并将滚-俯控式变质心飞行器的姿态控制问题转化为到达-回避问题。之后，通过长周期在线优化可达集，生成前馈标称控制序列；同时将飞行过程中复杂的动态扰动等效描述为初始状态的不确定，并采用中心对称多面体进行表示。在此基础上，根据对初始特征状态的可达集优化结果，利用线性系统的叠加特性，实时更新每个控制周期内的反馈控制指令，实现对扰动的有效补偿。最后通过数值仿真验证了所提出的双速率前馈-反馈组合控制算法的有效性，其可满足状态与控制输入受限、环境扰动下的变质心飞行器姿态控制需求。更多还原

【Abstract】 For the attitude control of moving-mass roll and trim control hypersonic vehicle, a dual-rate feedforwardfeedback combined control algorithm is proposed, taking into account state and control input constraints as well as disturbances in complex flight environments. First, the configuration and attitude dynamics model of a single-mass roll and trim control vehicle are presented, and the attitude control problem is transformed into a reach-avoid problem. Then, a reachable set is generated using a long-horizon online optimization method to determine the feedforward nominal control sequence. Meanwhile, complex dynamic disturbances during flight are equivalently described as initial state uncertainties, which are represented by zonotopes. Based on the optimized reachable set of initial characteristic states, the feedback control command for each control cycle is updated in real time by leveraging the superposition property of linear systems, thereby ensuring effective disturbance compensation. Finally, numerical simulations verify the effectiveness of the proposed dual-rate feedforward-feedback control algorithm, which satisfies the attitude control requirements of movingmass vehicles under state and input constraints and environmental disturbances.更多还原