backstepping的高超声速飞行器自适应故障补偿设计 1

003772 002576 00224 000336 cm 0035 2 cm q

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Unformatted text preview: 6.796 CM ( e ) ce ( q V e 2 2 h kh h (9) 5.3261 10 6 , 0.3015 0.2289), ) 3.1 2 V , , h, , p ,q x x1 x2 x3 p q x1 x2 Re ce e 2 n 2 n c f1 ( x1 , V ) g1 (V ) x2 f2 x3 n (2) ~(5) m, I yy , S , 2 (9) d T , D, L, M yy c (8) 0 1, 1, 0.036617 kh (h hd ) hd V arcsin f3 ( x1 , x2 , x3 , V ) g3 (V )u y (7) 5306 x1 g 2 x3 (10) f1 ( x1 ,V ) V 2 r ) cos ( (Vr 2 ) (10) x1 f3 ( x1 , x2 , x3 , V ) g3 (V ) qS CM ( ) CM (q) ce qScce / I yy e1 u d1 d2 e1 y z1 ym d z1 x1 d z1 f1 ( x1 ,V ) g1 (V ) x2 c1 x2 d x2 x2 d z2 x3 [u1 , u2 ]T , v u k2 j , j 1, 2 k1 j v0 R, k 2 j k1 j (16) T (19) k12 ( I )d T k21 k22 ( I )d T d k11 (12) (20) R (19) (21) x2 d v1 v2 ) (20) (20) z2 1 du (21) (13) (12) x3d c2 z2 g1 (V ) z1 x2 d c2 0 3 z3 x3 x3d z3 z3 f 3 ( x1 , x2 , x3 ,V ) g3 (V )u x3d g3 1 (V )c3 z3 v0 v0 0 z2 2 d 2 vj (11) d )v (19) , d c1 g1 1 (V ) z1 g1 1 (V ) f1 ( x1 , V ) g1 1 (V ) x2 d [d1 , d 2 ] diag ( 1 , Backstepping (19) x1 d d1 , d 2 1 f 3 ( x1 , x2 , x3 , V ) g3 (V )d u g 2 x3 g3 (V )d ( I e2 d1 , d 2 e2 f2 x3 I yy , f1 ( x1 , V ) g1 (V ) x2 x2 (0.6203qS / (mV )) g1 (V ) 0.6203qS / (mV ) f 2 0, g 2 1 g3 1 (V ) z2 1 (14) ˆˆ k1 j , k2 j g3 (V ) f3 ( x1 , x2 , x3 , V ) g3 (V ) x3d c3 0 ˆ k2 j (t ), j 1, 2 (22) k1 j , k2 j ˆˆ k1 j , k2 j (15) ˆ k1 j k1 j (...
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