Abstract: This paper proposes a unified scheme for the three-channel attitude control of the hypersonic vehicle based on the linear active disturbance rejection control (LADRC). For the control of Euler angles, three LADRC controllers are designed for the three channels respectively. The unmodeled and parametric uncertainties, coupling effects and the external disturbances are regarded as the total disturbance and are estimated and compensated by the extended state observer in the real time. Through the stability margin tester tuning method, the expected stability margin and transient performance are guaranteed for the three channels. Moreover, through the command transformation according to the flight dynamics of the hypersonic vehicle, the control schemes for the pitch, yaw and roll angle can be applied to the control of the angle of attack, the angle of sideslip and the bank angle directly, thus realizing a unified control frame for all the attitude angles. Simulation results demonstrate the satisfactory tracking and disturbance rejection ability of the proposed methods.

Key words: Hypersonic vehicle, attitude control , linear active disturbance rejection control, stability margin

摘要： 提出了基于线性自抗扰的高超声速飞行器三通道姿态控制的统一方案。对于欧拉角的控制，分别为3个通道设计线性自抗扰控制器，利用扩张状态观测器对各个通道中的包括未建模动态、参数不确定性、通道间耦合作用以及外部扰动的总扰动进行实时估计和补偿。通过使用稳定裕度测试子的参数整定方法，保证各个通道闭环系统有期望的稳定裕度以及暂态性能。此外，通过基于飞行器本体动态特性的指令转换，将俯仰角、偏航角和滚转角的控制方案直接应用于攻角、侧滑角和速度倾侧角的控制，从而实现了线性自抗扰框架下三通道所有姿态角度的统一控制方案。仿真结果证明了该控制方法良  好的跟踪性能和抗扰性能。

关键词: 高超声速飞行器, 三通道姿态控制, 线性自抗扰控制, 稳定裕度