采用固定时间观测器的翼伞控制方法与应用

To address the control problem of the flexible parafoil-booster system, a modified vector field path following control scheme with a fixed-time disturbance observer is proposed. Firstly, an online wind field estimation approach is introduced to obtain the unknown wind environment. Secondly, in order to ensure the fast stability of the parafoil-booster control system subject to the negative influence of aerodynamic uncertainties and the hinge coupling between these two subsystems, a fixed-time disturbance observer is designed to estimate the composite disturbance without knowing the upper boundary of the disturbance. The estimation result is used to compensate for the input of the control system. Thirdly, a lateral controller is developed to simultaneously ensure the stability of lateral deflection moment, yaw angle, and yaw rate. The closed-loop parafoil control system has been proved by using the Lyapunov theory. Finally, the effectiveness and application value of the proposed method is verified by numerical simulation and hardware-in-loop testing.