欠驱动变质心飞行器的滚偏耦合自抗扰控制

Considering the underactuated problem of flight vehicles with single moving mass roll control system, this paper proposes a controller based on the idea of active disturbance rejection, which achieves the command roll angle tracking and sideslip angle stabilization control only with the laterally configured single moving mass. The system attitude dynamics is modeled based on the momentum theorem of particle system, analysis shows that the roll and yaw channels share the same control input and are coupled by moving mass inertial and movement terms, and the lateral offset of the moving mass will impact the yaw channel. Therefore, an Active Disturbance Rejection Controller (ADRC) is designed to deal with the roll-yaw coupling control problem, where the modeling error, moving mass coupling and uncertainties are regarded as total disturbances, and extended state observation and dynamic compensation of total disturbances for both the roll angle control and sideslip angle stabilization subsystems are conducted, the controller with simple structure is easy to implement and it is capable of resisting both internal and external disturbances. Finally, the effectiveness and robustness of the proposed controller are verified by numerical simulations with perturbations.