通用扩张状态观测器鲁棒飞行控制方法

针对存在参数不确定、外界干扰与测量噪声情况下飞行控制问题，提出一种基于通用扩张状态观测器的鲁棒飞行控制方法。首先基于状态相关的Riccati方程（SDRE）控制方法，对飞行器俯仰通道非线性模型进行扩展线性化；而后引入基于通用扩张状态观测器的控制方法，设计干扰补偿增益，实现对外界干扰的估计与补偿；最后通过在线解算状态相关矩阵及代数黎卡提方程，得出状态反馈增益与干扰补偿增益，实现对飞行器期望攻角的跟踪控制。通过与已有方法进行对比，验证了本文所提方法不仅对系统模型不确定性与外界干扰具有较强鲁棒性，而且在较大测量噪声情况下，其依然能够保证良好的跟踪控制效果，具有较强的工程应用价值。

Generalized Extended State Observer Based Robust Flight Control

The generalized extended state observer based robust flight control is investigated to address the parameter uncertainties, external disturbances and measurement noise. Firstly, the nonlinear longitudinal dynamics are transformed into linear-like structure state-space equations of state-dependent coefficients based on the state-dependent Riccati equation (SDRE) control method. And then, according to the generalized extended state observer based control, the disturbance compensation gain is designed to estimate and attenuate the external disturbances. Consequently, the control command is derived to track the desired angle of attack by solving the state-dependent coefficients and the algebraic Riccati equation on-line. Simulation results are illustrated compared with the other control methods. It is demonstrated that the proposed approach not only is robust with the parameter uncertainties and external disturbances, but also remains perfect tracking performance with the measurement noise.