针对无人作战飞机自主攻击过程高精度、大迎角以及飞行状态快速变化等飞行控制需求, 采用反步控制设计非线性控制器。依据飞行器六自由度方程建立非线性控制模型, 利用奇异摄动原理将速度控制器和姿态控制器设计分离开, 分别利用反步控制原理设计控制器, 采用一阶指令滤波器克服传统反步法带来的“微分爆炸”问题, 最后依据Lyapunov稳定原理证明了控制系统跟踪误差渐近趋近于零。仿真结果表明, 非线性控制器在输入参考信号发生剧烈变化时仍能够实现高精度跟踪控制。

Considering that the flight control of unmanned combat aerial vehicle (UCAV) is required to have high accuracy, high attacking angle and rapid change of flight state during UCAVs autonomous attacking, we designed a nonlinear backstepping flight controller.Firstly, we established a nonlinear flight model based on six degree-of-freedom aircraft equation.Then, we separated the speed controller design from the attitude controller design based on singular perturbation theory and backstepping control.The problem of ‘differential explosion’ in traditional backstepping was overcome by using simple first order command filter.The tracking error of the controller was proved to converge exponentially to zero according to Lyapunov stability theory.The simulation result proves that the nonlinear controller can track the input reference signal with high accuracy even when it changes dramatically.