backstepping的高超声速飞行器自适应故障补偿设计 1

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Unformatted text preview: 16) 1 ˆ k1 j (t )v0 vj (22) (23) x3 ˆ k2 j k1 j , k2 j k2 j , j 1, 2 (23) (19) f3 ( x1 , x2 , x3 , V ) g3 (V )v0 g3 (V )d j (k1 j v0 k2 j ) 3.2 (24) j jp jp ˆˆ k1 j , k2 j u j (t ) u j , t t j , j 1, 2 uj ˆ k1 j tj 1j uj j (u j v j (t )), j 1, 2 (18) R, sgn[d j ] 1j 0; 2j 1 j R, 2j 1 0 5307 z 2j 3 0 x x 1 0 (25) dj sg n[ x ] j v 1j 0 (16) v j (t ) ej uj j sgn[d j ] z3 u (t ) u j (t ) v j (t ) sgn[d j ]z3 ˆ k2 j (17) 0 0 x 0 (22) (25) V (t ) (19) 1 (17) (22) 0 (11) (10) (25) z12 ( )d z1 lim( y (t ) ym (t )) 0 t 1 lim( y (t ) ym (t )) 0 t Lyapunov z12 2 ˆˆ V ( z1 , z2 , z3 , k1 j , k2 j ) dj 2 z3 2 dj 2 z2 2 12 1j 1j k 2 2 j jp (11) (13) (15) (19) (22) V z1 z1 z2 z2 Backstepping 1 k j jp (25) (26) 1 2d x dj 2 kk x3d x3d , x3d (0) x3d (0) x2 d x3d (34) kk x2 d (27) x3d Backstepping (22) j jp 1 1j 1j 1j kk dj 1 2j 2j 2j kk 4 j jp (25) (27) 3 V 2 ck zk 0 (28) (1) k1 V 0 (26) ˆˆ z1 , z2 , z3 , k1 j , k2 j ( j ˆˆ k1 j , k2 j ( j j p ) t ˆ k1 j (t ) ˆ k1 j (0) sgn[d j ] ˆ k1 j (t ) ˆ k1 j (0) sgn[ d j ] t 1j 0 t 1j 0 x0 jp ) x0 (25) z3v0 d , ( j j p ) (29) z3v0 d , ( j j p ) (30) sgn[d j ] 1 1j ˆ ˆ k1 j (0) k1 j (t ) , ( j t jp ) ˆ k1 j ( j 0 z3v0 d gV ( x0 ) (35) 1 0.0224qS cos m 0.00336qS cos gV ( x0 ) m Vd f v ( x0 ) j p ) (31) (30) ˆ k2 j ( j jp ) V fV ( x0 ) gV ( x0 ) 1 D sin m r2 0.0257 qS cos m f v ( x0 ) (29) ˆ k1...
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