Non-singular preset performance fault-tolerant control method and device for hypersonic flight vehicle

Abstract

The invention provides a nonsingular preset performance fault-tolerant control method and device for a hypersonic aircraft, and the method comprises the steps: constructing a longitudinal dynamic model of the hypersonic aircraft, and decomposing the longitudinal dynamic model into a speed subsystem and a height subsystem; dynamically generating a first control input of the speed subsystem through a non-singular preset performance controller based on a first-order system state variable in a kinetic model of the speed subsystem, a tracking instruction of the speed subsystem and a speed boundary constraint of preset performance control; dynamically generating a second control input of the height subsystem through a four-order backstepping controller based on a hierarchical dynamical model of the height subsystem, a first-order tracking instruction of the height subsystem and a hierarchical height boundary constraint of preset performance control; the fourth-order backstepping controller is determined based on the non-singular preset performance controller; the first control input and the second control input are applied to an execution mechanism of the hypersonic aircraft, and non-singular preset performance fault-tolerant control is effectively performed.

Description

Technical Field

[0001] This invention relates to the field of aircraft performance control technology, and in particular to a non-singular preset performance fault-tolerant control method and apparatus for hypersonic aircraft. Background Technology

[0002] Hypersonic vehicles are those that can maintain a cruising speed of Mach 5 or higher, including hypersonic missiles, spaceplanes, hypersonic reconnaissance aircraft, and space shuttles. They have advantages such as high flight altitude, high speed, and good maneuverability, as well as high penetration capability and strong survivability.

[0003] The strong coupling and intense disturbances between force, heat, and structure encountered during hypersonic flight can cause actuators to saturate or even fail, leading to the collapse of the vehicle's control system. To address these issues, a fault-tolerant control system with high speed, robustness, and accuracy is needed. Hypersonic flight demands that the fault-tolerant control system accurately track command signals within an extremely short time, placing stringent requirements on the controller's dynamic performance. Preset performance control can improve the controller's steady-state and transient performance by constraining the error convergence range through performance boundary constraints. It is often combined with control methods such as neural network control, adaptive control, and backstepping control in the design of hypersonic vehicle controllers.

[0004] In existing technology one, preset performance control is applied to the control of hypersonic vehicles, effectively shortening the convergence time and improving tracking accuracy. To address the limitation of traditional preset performance functions requiring prior knowledge of the initial error value in practical applications, existing technology two designs a novel boundary function to solve this limitation. Existing technology three designs a novel scalable error transformation function, ensuring that the error converges to the preset performance boundary even if the initial error is outside the set entry capture range. While existing technologies solve the initial value capture problem of preset performance control, they suffer from the problem that the system convergence time to steady state tends to infinity, which clearly does not meet the requirement of fast convergence. To solve this problem, existing technology four designs a fixed-time convergence preset performance control method, ensuring that the error can converge to the steady-state interval within any set time. Existing technologies offer effective solutions to the initial value constraints and infinite convergence time inherent in preset performance control itself. However, when hypersonic vehicles experience input saturation, time-varying actuator malfunctions, or strong interference, the trajectory tracking error may exceed the performance boundary, leading to singular phenomena in the controller.

[0005] Therefore, how to effectively perform non-singular preset performance fault-tolerant control for hypersonic vehicles subjected to strong interference, input saturation, and time-varying actuator failures has become an urgent technical problem to be solved. Summary of the Invention

[0006] To address the aforementioned shortcomings in the existing technology, this invention provides a non-singular preset performance fault-tolerant control method and apparatus for hypersonic vehicles, which can effectively perform non-singular preset performance fault-tolerant control for hypersonic vehicles subjected to strong interference, input saturation, and time-varying actuator failures.

[0007] In a first aspect, the present invention provides a non-singular preset performance fault-tolerant control method for a hypersonic vehicle, the method comprising the following steps: A longitudinal dynamic model of a hypersonic vehicle is constructed, and the longitudinal dynamic model is decomposed into a dynamic model of a velocity subsystem and a fractional-order dynamic model of an altitude subsystem; the velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem. For the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the first control input of the velocity subsystem is dynamically generated by a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator, and strong interference. For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

[0008] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided, wherein the first control input of the velocity subsystem is dynamically generated by a non-singular preset performance controller based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, including: The speed tracking error is determined based on the first-order system state variables in the dynamic model of the speed subsystem and the tracking command of the speed subsystem. Based on the speed tracking error, determine the differential of the speed tracking error; Based on the preset performance boundary constraints of the velocity subsystem and the velocity tracking error differential, the velocity conversion error differential of the physical quantities of the velocity subsystem is determined; the velocity auxiliary variable in the preset performance boundary constraints of the velocity subsystem is obtained by designing a first second-order fast finite-time convergence auxiliary system; the first second-order fast finite-time convergence auxiliary system is defined in the real number domain. The unknown velocity term in the velocity conversion error differential is estimated using the first super-twisted expansion state observer to obtain an estimated value for the unknown velocity term; the super-twisted expansion state observer is designed based on the velocity tracking error differential. Based on the estimated value of the unknown speed term, the updated differential of the speed conversion error is obtained, and based on the updated differential of the speed conversion error, the first control input of the speed subsystem is determined.

[0009] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle, wherein the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller based on the hierarchical dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, including: For the first-order system of the altitude subsystem, the first-order altitude tracking error is determined based on the hierarchical dynamic model of the altitude subsystem and the first-order tracking command of the altitude subsystem. Based on the first-order altitude tracking error, the first-order virtual input of the altitude subsystem is determined; Based on the first-order virtual input of the altitude subsystem, the second-order tracking error is determined, and based on the second-order tracking error, the differential of the second-order altitude tracking conversion error is determined. The second-order virtual input of the altitude subsystem is then determined by the second super-twisted expansion state observer based on the differential of the second-order tracking error. Based on the second-order virtual input of the height subsystem, the third-order tracking error is determined, and based on the third-order tracking error, the differential of the third-order height tracking conversion error is determined. The third-order virtual input of the height subsystem is then determined by the third super-twisted expansion state observer based on the differential of the third-order height tracking conversion error. The fourth-order tracking error is determined based on the third-order virtual input of the height subsystem and the height auxiliary variable of the second-order fast finite-time convergence auxiliary system. Based on the fourth-order tracking error, the second control input of the height subsystem is determined by the fourth super-twisted expansion state observer.

[0010] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle, wherein determining the first-order virtual input of the altitude subsystem based on the first-order altitude tracking error includes: Based on the first-order altitude tracking error, the differential of the altitude tracking error is determined; Based on the differential of the altitude tracking error and the preset performance function of the altitude subsystem, the conversion error of the first-order altitude tracking error is determined; Based on the conversion error of the first-order altitude tracking error, the differential of the first-order altitude tracking conversion error of the altitude subsystem physical quantities is determined; The first-order virtual input of the altitude subsystem is determined based on the differential of the first-order altitude tracking conversion error.

[0011] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle, wherein the method comprises determining the derivative of the second-order tracking error based on the second-order tracking error, and determining the second-order virtual input of the altitude subsystem based on the derivative of the second-order tracking error using a second hyper-torsion expansion state observer, including: Based on the second-order tracking error, the derivative of the second-order height tracking conversion error is determined; Based on the second super-twisted expansion state observer, the second-order height unknown term in the second-order height tracking conversion error differential is estimated to obtain the estimated value of the second-order height unknown term; Based on the estimated value of the second-order height unknown term, the second-order virtual input of the height subsystem is determined.

[0012] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle, wherein the second control input of the altitude subsystem is determined based on the fourth-order tracking error through a fourth super-torsion expansion state observer, includes: Based on the fourth-order tracking error and the second second-order fast finite-time convergence auxiliary system, the derivative of the fourth-order height tracking error is determined. Based on the fourth super-twisted expansion state observer, the fourth-order height unknown term in the fourth-order height tracking error differential is estimated to obtain the estimated value of the fourth-order height unknown term; Based on the estimated value of the fourth-order unknown altitude term, the second control input of the altitude subsystem is determined.

[0013] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided, wherein the actuator of the hypersonic vehicle includes an engine and an elevator; the first control input is used to characterize the fuel equivalence ratio control command of the engine, and the second control input is used to characterize the elevator deflection angle control command of the elevator; The step of applying the first control input and the second control input to the actuator of the hypersonic vehicle includes: The fuel equivalence ratio control command of the engine is applied to the engine so that the engine can control the flight speed of the hypersonic vehicle; The elevator deflection control command is applied to the elevator so that the elevator can control the flight altitude of the hypersonic vehicle.

[0014] Secondly, the present invention also provides a non-singular preset performance fault-tolerant control device for hypersonic vehicles, the device comprising the following modules: The model building module is used to construct a longitudinal dynamic model of a hypersonic vehicle, which decomposes the longitudinal dynamic model into a dynamic model of a velocity subsystem and a multi-order dynamic model of an altitude subsystem; the velocity subsystem is a first-order nonlinear system and the altitude subsystem is a fourth-order linear subsystem. The control module is used to dynamically generate the first control input of the velocity subsystem based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the speed boundary constraints of the preset performance control, through a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error and ensure that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator, and strong interference. For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

[0015] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the non-singular preset performance fault-tolerant control method for hypersonic vehicles as described above.

[0016] Fourthly, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the non-singular preset performance fault-tolerant control method for hypersonic vehicles as described above.

[0017] Fifthly, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the non-singular preset performance fault-tolerant control method for hypersonic vehicles as described above.

[0018] The present invention provides a non-singular preset performance fault-tolerant control method and apparatus for hypersonic vehicles. First, a longitudinal dynamic model of the hypersonic vehicle is constructed, which is then decomposed into a dynamic model of a velocity subsystem and a graded dynamic model of an altitude subsystem. The velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem. Then, for the velocity subsystem, based on the first-order system state variables in the velocity subsystem's dynamic model, the velocity subsystem's tracking command, and the velocity boundary constraints of the preset performance control, a first control input for the velocity subsystem is dynamically generated through a non-singular preset performance controller. The non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying actuator failure, and strong interference. Furthermore, for the altitude subsystem, based on the hierarchical dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller, which is determined based on the non-singular preset performance controller. Then, the first control input and the second control input are applied to the actuator of the hypersonic vehicle.

[0019] In this invention, a non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying actuator faults, and strong disturbances. The fourth-order backstepping controller is also determined based on the non-singular preset performance controller. The longitudinal dynamic model of the hypersonic vehicle is decomposed into a dynamic model of the velocity subsystem and a sub-order dynamic model of the altitude subsystem. Then, the first control input of the velocity subsystem is dynamically generated by the non-singular preset performance controller, and the second control input of the altitude subsystem is dynamically generated by the fourth-order backstepping controller. For hypersonic vehicles subjected to strong disturbances, input saturation, and time-varying actuator faults, non-singular preset performance fault-tolerant control can be effectively performed. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart illustrating the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention.

[0022] Figure 2This is one of the schematic diagrams illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention.

[0023] Figure 3 This is the second schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention.

[0024] Figure 4 This is the third schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention.

[0025] Figure 5 This is the fourth schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention.

[0026] Figure 6 This is the fifth schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention.

[0027] Figure 7 This is the sixth schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention.

[0028] Figure 8 This is the seventh schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention.

[0029] Figure 9 This is the eighth schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention.

[0030] Figure 10 This is the ninth illustration of the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention.

[0031] Figure 11 This is the tenth schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention.

[0032] Figure 12 This is a schematic diagram of the non-singular preset performance fault-tolerant control device for hypersonic aircraft provided by the present invention.

[0033] Figure 13 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0035] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, a first node can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0036] The following combination Figures 1-13 The present invention describes a non-singular preset performance fault-tolerant control method and apparatus for hypersonic aircraft.

[0037] Figure 1 This is a flowchart illustrating the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention, as shown below. Figure 1 As shown, the method includes the following: Step 101: Construct the longitudinal dynamic model of the hypersonic vehicle, and decompose the longitudinal dynamic model into a dynamic model of the velocity subsystem and a multi-order dynamic model of the altitude subsystem; the velocity subsystem is a first-order nonlinear system and the altitude subsystem is a fourth-order linear subsystem. It should be noted that the execution subject of this embodiment is an electronic device, which is used to implement a non-singular preset performance fault-tolerant control method for hypersonic vehicles. Even in the event of time-varying faults, strong interference, and saturation, the error can still converge to the preset performance boundary, effectively performing non-singular preset performance fault-tolerant control on hypersonic vehicles.

[0038] Hypersonic vehicles performing high-maneuverability flight in near space are susceptible to coupled interference from actuator malfunctions and input saturation. These combined uncertainties can easily cause unexpected fluctuations in tracking errors. If the error amplitude exceeds the preset performance boundary, it will lead to singular phenomena in traditional preset performance controllers. To address this issue, a self-correcting preset performance control method is proposed. By embedding a fast, finite-time convergent auxiliary system into a performance boundary adjustment mechanism, the singularity problem in traditional preset performance control is effectively solved.

[0039] The non-singular preset performance fault-tolerant control method provided in this embodiment is executed according to the following steps: First, a longitudinal kinematic model of the hypersonic vehicle is constructed. This model is decomposed into a dynamic model of the velocity subsystem and a multi-order dynamic model of the altitude subsystem. For each subsystem, actuator saturation limits, partial failure faults, and drift faults are incorporated into the inputs. The resulting vehicle model is as follows: The dynamic model of the velocity subsystem is as follows: (1) in, This represents the differential of the output velocity of the velocity subsystem. Indicates the fuel equivalence ratio. This indicates a velocity disturbance.

[0040] The hierarchical dynamic model of the height subsystem is as follows: in, The output velocity derivative of the altitude subsystem is represented by γ, and the track inclination angle is represented by γ. d represents the differential of the trajectory inclination angle. γ This represents the track inclination disturbance, where θ represents the pitch angle. Let d represent the differential of the pitch angle, q represent the pitch angular velocity, and d represent the differential of the pitch angle. θ This indicates pitch angle disturbance. d represents the differential of pitch angular velocity, δ represents the rudder deflection angle, and d represents the differential of pitch angular velocity. q This indicates pitch angle disturbance.

[0041] in, , , , These represent the relevant aerodynamic coefficients for lift and thrust, respectively. Indicates angle of attack. Indicates tension. It is the acceleration due to gravity. , Indicates the inclination angle and mass of the flight path. m=300slug For thrust coefficient, Velocity represents the state variable during flight. Indicates the inclination angle of the flight path. Indicates the lift coefficient. Indicates the first pitching moment. Indicates the second pitching moment. Indicates the third pitching moment. Given the inertial torque, S is the air density, and S is the aircraft reference area.

[0042] in, The fuel equivalence ratio is calculated as follows: (4) in, Fuel equivalence ratio, The failure coefficient of the actuator engine. The problem is a misalignment fault in the actuator's engine. The input fuel equivalence ratio of the speed subsystem in the event of a malfunction or saturation.

[0043] Sat(u V )for: in, u V These represent the maximum and minimum executable input values ​​for the actuator engine, u. V This is the first control input to the speed subsystem obtained by the controller.

[0044] Correspondingly, For the elevator deflection angle, refer to (4) and (5) to obtain (6) in, The failure factor of the elevator actuator. The problem stems from an offset fault in the elevator mechanism. The input elevator deflection angle for the altitude subsystem in the event of a malfunction or saturation.

[0045] The velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem.

[0046] Step 102: For the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the first control input of the velocity subsystem is dynamically generated through a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying faults of the actuator, and strong disturbances. Specifically, after decomposing the aircraft dynamics model into subsystems, corresponding non-singular preset performance controllers are designed for the velocity and altitude subsystems to perform fault-tolerant control. The non-singular preset performance controllers are used to dynamically adjust the performance boundaries to constrain the tracking error, ensuring that the tracking error converges to the preset boundaries under input saturation, time-varying actuator failures, and strong disturbances.

[0047] The design and implementation steps of the non-singular preset performance controller for the velocity subsystem, along with fault-tolerant control, are as follows: First, determine the speed tracking error. For example, determine the speed tracking error based on the first-order system state variables in the dynamic model of the speed subsystem and the tracking command of the speed subsystem.

[0048] Secondly, the speed tracking error is transformed using a preset performance function (to generate speed boundary constraints) to obtain the error transformation derivative of the speed subsystem. Then, the first control input of the speed subsystem can be dynamically generated based on the error transformation derivative and the speed boundary constraints of the preset performance control.

[0049] Among them, the non-singular preset performance controller senses whether the first control input is saturated in real time. If it is saturated, it will pass the current parameters to the preset performance function to dynamically adjust the performance boundary to constrain the tracking error and ensure that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator and strong interference.

[0050] Specifically, for the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the first control input of the velocity subsystem, that is, the control command of the engine, is dynamically generated by the non-singular preset performance controller.

[0051] Non-singular preset performance controllers are used to dynamically adjust performance boundaries to constrain tracking errors, ensuring that tracking errors converge to preset boundaries under conditions of input saturation, time-varying actuator failures, and strong disturbances.

[0052] Step 103: For the altitude subsystem, based on the hierarchical dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated through a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The height subsystem is a fourth-order nonlinear system. The design and implementation steps of the nonsingular preset performance controller (fourth-order backstepping controller) for the height subsystem are as follows: First, for the first-order system of the altitude subsystem, the tracking error of the first-order system is determined. Based on the first-order dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the auxiliary variables of the second-order fast finite-time convergence auxiliary system, the first-order altitude tracking error is determined. Further, a preset performance function (generating altitude boundary constraints) is used to transform the first-order altitude tracking error to obtain the transformed altitude tracking error. Then, based on the differential of the first-order altitude transformation error and the preset performance control altitude boundary constraints, the virtual input of the first-order altitude subsystem is dynamically generated by the controller.

[0053] Then, based on the first-order virtual input of the altitude subsystem, the second-order tracking error is determined. Then, based on the second-order tracking error, the second-order tracking error derivative of the physical quantity of the altitude subsystem is determined. Based on the second-order altitude tracking conversion error derivative, the third-order virtual input of the altitude subsystem is generated. This process is repeated until the fourth section control input, namely the control command for the rudder deflection angle, is obtained.

[0054] Among them, the fourth-order backstepping controller is designed by a non-singular preset performance controller. It is used to sense whether the second control input is saturated in real time. If it is saturated, it will pass the current parameters to the preset performance function of the height boundary constraint to realize dynamic adjustment of the height boundary to constrain the height tracking error and ensure that the height tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator and strong interference.

[0055] Specifically, for the velocity subsystem, the first control input of the velocity subsystem is dynamically generated by a non-singular preset performance controller based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control. The non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error and ensure that the tracking error converges to the preset boundary under input saturation, time-varying faults of the actuator, and strong disturbances.

[0056] Step 104: Apply the first control input and the second control input to the actuators of the hypersonic vehicle.

[0057] Specifically, the first control input (i.e., the engine control command) is applied to the hypersonic vehicle's actuator engine, and the second control input (the control command for the rudder deflection angle) is applied to the hypersonic vehicle's actuator elevator.

[0058] The method provided in this embodiment first constructs a longitudinal dynamic model of the hypersonic vehicle, decomposing it into a dynamic model of a velocity subsystem and a multi-order dynamic model of an altitude subsystem. The velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem. Then, for the velocity subsystem, based on the first-order system state variables in the velocity subsystem's dynamic model, the velocity subsystem's tracking command, and the velocity boundary constraints of the preset performance control, a first control input for the velocity subsystem is dynamically generated using a non-singular preset performance controller. This non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to within the preset boundary under input saturation, time-varying actuator faults, and strong disturbances. Further, for the altitude subsystem, based on the multi-order dynamic model of the altitude subsystem, the first-order tracking command, and the multi-order altitude boundary constraints of the preset performance control, a second control input for the altitude subsystem is dynamically generated using a fourth-order backstepping controller, which is determined based on the non-singular preset performance controller. Finally, the first and second control inputs are applied to the actuators of the hypersonic vehicle.

[0059] In this invention, a non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying actuator faults, and strong disturbances. The fourth-order backstepping controller is also determined based on the non-singular preset performance controller. The longitudinal dynamic model of the hypersonic vehicle is decomposed into a dynamic model of the velocity subsystem and a sub-order dynamic model of the altitude subsystem. Then, the first control input of the velocity subsystem is dynamically generated by the non-singular preset performance controller, and the second control input of the altitude subsystem is dynamically generated by the fourth-order backstepping controller. For hypersonic vehicles subjected to strong disturbances, input saturation, and time-varying actuator faults, non-singular preset performance fault-tolerant control can be effectively performed.

[0060] It should be noted that each implementation method of this application can be freely combined, rearranged, or executed individually, and does not need to rely on or depend on a fixed execution order.

[0061] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided. Based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the method dynamically generates the first control input of the velocity subsystem through a non-singular preset performance controller, including: The velocity tracking error is determined based on the first-order system state variables in the dynamic model of the velocity subsystem and the tracking command of the velocity subsystem. Based on the speed tracking error, determine the differential of the speed tracking error; Based on the preset performance boundary constraints and velocity tracking error differential of the velocity subsystem, the velocity conversion error differential of the physical quantities of the velocity subsystem is determined; the velocity auxiliary variable in the preset performance boundary constraints of the velocity subsystem is obtained by designing a first- or second-order fast finite-time convergent auxiliary system; the first- or second-order fast finite-time convergent auxiliary system is defined in the real number field; The unknown velocity term in the velocity conversion error differential is estimated using the first super-twisted extended state observer, and the estimated value of the unknown velocity term is obtained; the super-twisted extended state observer is designed based on the velocity tracking error differential. Based on the estimated value of the unknown velocity term, the updated velocity conversion error differential is obtained, and based on the updated velocity conversion error differential, the first control input of the velocity subsystem is determined.

[0062] Specifically, in some embodiments, step 102 can be implemented through the following steps: First, the velocity tracking error is determined based on the first-order system state variables in the dynamic model of the velocity subsystem and the tracking command of the velocity subsystem.

[0063] (7) in, Indicates speed tracking error. Represents the velocity, a state variable of the first-order system. This indicates a speed subsystem tracking command.

[0064] Differentiating it and substituting it into formula (4) yields: (8) in, This represents the derivative of the speed tracking error. Indicates the fuel equivalence ratio. The derivative of the speed subsystem command. Indicates velocity disturbance, This represents the input of the velocity subsystem. This indicates a disturbance in the fuel equivalence ratio.

[0065] Furthermore, based on the velocity tracking error, the differential of the velocity tracking error is determined; based on the preset performance boundary constraints of the velocity subsystem and the differential of the velocity tracking error, the differential of the velocity conversion error of the physical quantities of the velocity subsystem is determined; the velocity auxiliary variable in the preset performance boundary constraints of the velocity subsystem is obtained by designing a first- or second-order fast finite-time convergence auxiliary system; the first- or second-order fast finite-time convergence auxiliary system is defined in the real number field.

[0066] The following preset performance function is used for the velocity boundary: (9) in, The lower boundary of the preset performance function representing the velocity boundary. Indicates speed tracking error. The upper boundary of the preset performance function represents the velocity boundary.

[0067] (10) in, The upper boundary of the preset performance function representing the velocity boundary. The upper boundary performance function represents the velocity boundary. The first-order auxiliary variable representing the upper boundary of the velocity boundary. The lower boundary of the preset performance function representing the velocity boundary. The lower boundary performance function represents the velocity boundary. The first-order auxiliary variable represents the lower boundary of the velocity boundary.

[0068] in, in, The first-order auxiliary variable derivative of the lower boundary of the velocity boundary, ψ v b ψ represents the power of v, which is associated with the lower boundary. b The first-order auxiliary variable, u, represents the lower boundary of the velocity boundary. V The control input represents the speed. This indicates the maximum value that the actuator engine can execute. u V This indicates the minimum value that the actuator engine can execute. The first-order auxiliary variable derivative of the upper boundary of the velocity boundary, ψ v a This represents the power of v, n, of the first-order auxiliary variable associated with the upper boundary. a m b n b m a v represents the design parameters of the non-singular preset performance controller, and all design parameters are greater than 0.

[0069] in, (12) in, The lower boundary of the preset performance function representing the velocity boundary. Indicates speed tracking error. The upper boundary of the preset performance function representing the velocity boundary. This indicates the speed conversion error.

[0070] Furthermore, based on velocity boundary constraints and velocity tracking errors, the velocity conversion error differential of the physical quantities of the velocity subsystem is determined.

[0071] The error conversion formula takes the following form: in, Indicates speed conversion error. The lower boundary of the preset performance function representing the velocity boundary. Indicates speed tracking error. The upper boundary of the preset performance function represents the velocity boundary.

[0072] According to equation (12), we can obtain: Substituting formulas (10), (8), and (11) into the equations, we get: Simplifying, we get: (13) Furthermore, the unknown velocity term in the velocity conversion error differential is estimated using the first super-twisted expansion state observer, yielding an estimated value for the unknown velocity term. The super-twisted expansion state observer is designed based on the velocity auxiliary variable.

[0073] The first super-torsional expansion state observer is designed as follows: (14) in, Indicates the sliding surface. This represents the estimation error of the unknown velocity term. Represents the state variables of a first-order system. This represents the estimated state variables of the velocity subsystem. This represents the estimated value of the first-order auxiliary system. This represents the differential of the estimate for the second-order auxiliary system, which is also the estimate of the velocity unknown term. This represents the value of the speed input after saturation limiting. The derivative of the speed subsystem command. , , , , , The parameters to be designed for the observer of the velocity subsystem are represented.

[0074] Furthermore, based on the estimated value of the speed unknown, an updated speed conversion error differential is obtained, and based on the updated speed conversion error differential, the first control input of the speed subsystem is determined.

[0075] The first control input for the speed subsystem is: (15) in, , These are the design parameters for the controller. As the first control input of the speed subsystem, The first-order auxiliary variable representing the lower boundary of the velocity boundary. Power of 1 The first-order auxiliary variable representing the lower boundary of the velocity boundary. The first-order auxiliary variable of the upper boundary of the velocity boundary Power of 1 The first-order auxiliary variable representing the upper boundary of the velocity boundary. The lower boundary of the preset performance function representing the velocity boundary. Indicates speed tracking error. The upper boundary of the preset performance function representing the velocity boundary. Indicates speed conversion error. This represents the derivative of the lower boundary of the preset performance. Indicates speed conversion error. Indicating speed conversion error Power of 1 This represents an estimated value for the unknown velocity term. The derivative of the speed subsystem command. , , , , This represents the design parameters of the non-singular preset performance controller; all design parameters are greater than 0. This is the first gain of the controller; This is the second gain of the controller.

[0076] The method provided in this embodiment first transforms the speed tracking error using a non-singular preset performance controller to constrain the speed tracking error and detect input saturation. Second, it uses a designed observer to estimate disturbances and faults. Finally, it designs the control input so that even in the presence of time-varying faults, strong interference, and saturation, the tracking error can still converge to the preset performance boundary.

[0077] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided. Based on the hierarchical dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated through a fourth-order backstepping controller, including: For the first-order system of the altitude subsystem, the first-order altitude tracking error is determined based on the hierarchical dynamics model of the altitude subsystem and the first-order tracking command of the altitude subsystem. Based on the first-order altitude tracking error, determine the first-order virtual input of the altitude subsystem; Based on the first-order virtual input of the altitude subsystem, the second-order tracking error is determined, and based on the second-order tracking error, the differential of the second-order altitude tracking conversion error is determined. The second-order virtual input of the altitude subsystem is then determined by the second super-twisted expansion state observer based on the differential of the second-order tracking error. Based on the second-order virtual input of the height subsystem, the third-order tracking error is determined, and based on the third-order tracking error, the differential of the third-order height tracking conversion error is determined. The third-order virtual input of the height subsystem is then determined by the third super-twisted expansion state observer based on the differential of the third-order tracking error. The fourth-order tracking error is determined based on the third-order virtual input of the height subsystem and the height auxiliary variable of the second-order fast finite-time convergent auxiliary system. Based on the fourth-order tracking error, the second control input of the height subsystem is determined through the fourth super-twisted expansion state observer.

[0078] Specifically, in some embodiments, step 103 can be implemented through the following steps: First, for the first-order system of the altitude subsystem, the first-order altitude tracking error is determined based on the hierarchical dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the second fast finite-time convergence auxiliary variable. Based on the first-order altitude tracking error, the first-order virtual input of the altitude subsystem is determined through the second second-order fast finite-time convergence auxiliary system.

[0079] In the first stage, there is no disturbance, so the altitude tracking error is directly transformed to constrain the altitude tracking error and sense the saturation of the rudder deflection angle. Then, the first-stage virtual input, namely the track tilt angle command, is designed. .

[0080] Furthermore, the control input is designed using the backstepping method: STEP 1: Perform operations on the second order, using the second super-twisted expansion state observer to observe the disturbance and the virtual differential instruction, and then design the second-order virtual input, eliminating auxiliary variables in the virtual input.

[0081] First-order virtual input based on the altitude subsystem (track tilt command) The second-order tracking error is determined, and based on this error, the second-order virtual input of the altitude subsystem, i.e., the pitch angle command, is determined using the second super-torsion extended state observer. .

[0082] STEP2: Perform operations on the third order, using the third super-twisted expansion state observer to observe disturbances and virtual differential instructions, and then design virtual inputs, introducing auxiliary variables into the virtual inputs.

[0083] Based on the second-order virtual input of the altitude subsystem, the third-order tracking error is determined. Based on the third-order tracking error, the third-order virtual input of the altitude subsystem, namely the pitch angular velocity command, is determined through the third super-torsion dilatation state observer. .

[0084] STEP3: Perform operations on the fourth order, using the fourth super-twisted expansion state observer to observe disturbances and virtual differential instructions, considering auxiliary variables and saturation, and design the second control input.

[0085] Based on the third-order virtual input of the altitude subsystem and the altitude auxiliary variable of the second-order fast finite-time convergent auxiliary system, the fourth-order tracking error is determined. Based on this fourth-order tracking error, the second control input of the altitude subsystem is determined using a fourth super-twisted extended state observer. That is, the control input for flight altitude. .

[0086] The method provided in this embodiment designs a second-order fast-converging auxiliary system defined in the real number domain. By introducing auxiliary variables into the preset performance control, the order of the auxiliary system is cleverly reduced, thereby significantly shortening the convergence time of performance boundary fluctuations. Furthermore, the domain of the auxiliary system is expanded, enhancing its practicality. A super-twisted extended state observer is used to observe disturbances, virtual command differentiation, and fault information. Even under time-varying faults, strong disturbances, and saturation, the error can still converge to within the preset performance boundary. Moreover, in the entire control method, there is no need to design a tracking differentiator to track the virtual command differentiation signal, resulting in a simple and ingenious control structure.

[0087] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle determines the first-order virtual input of the altitude subsystem based on the first-order altitude tracking error, including: Based on the first-order altitude tracking error, the differential of the altitude tracking error is determined; Based on the differential of altitude tracking error and the preset performance function of altitude subsystem, the conversion error of the first-order altitude tracking error is determined; Based on the conversion error of the first-order altitude tracking error, the differential of the first-order altitude tracking conversion error of the physical quantities of the altitude subsystem is determined; The first-order virtual input of the altitude subsystem is determined based on the differential of the first-order altitude tracking conversion error.

[0088] Specifically, in some embodiments, the specific implementation process of determining the first-order virtual input of the height subsystem based on the first-order height tracking error through a second super-twisted expansion state observer includes the following steps: First, based on the first-order altitude tracking error, the differential of the altitude tracking error is determined.

[0089] Define height tracking error: (16) in, For high tracking error, This represents the output of the altitude subsystem. For altitude subsystem instructions.

[0090] Differentiating it yields: (17) WeChat indicates a high tracking error. Indicates the inclination angle of the flight path. The differential of the height subsystem instruction.

[0091] because Smaller, can be simplified to WeChat indicates a high tracking error. Indicates the inclination angle of the flight path. The differential of the height subsystem instructions.

[0092] Then, based on the differential of the altitude tracking error and the preset performance function of the altitude subsystem, the conversion error of the first-order altitude tracking error is determined.

[0093] The following preset performance function for the height subsystem is adopted: in, The upper bound of the preset performance function is the height boundary. Let the upper boundary performance function be the height boundary. For the first-order auxiliary variable of the upper boundary, Let it be the first-order auxiliary variable of the lower boundary. The lower boundary of the preset performance function is the height boundary. This is the lower boundary performance function of the height boundary.

[0094] in, Where, k a,i k b,i ,α,v,b a,i ,bb,i >0 represents the parameter to be designed. Let it be the first-order auxiliary variable of the lower boundary. The first-order auxiliary variable, b, is associated with the lower boundary and raised to the power of α. b,1 Parameters to be designed; A first-order auxiliary variable associated with the lower boundary; A second-order auxiliary variable associated with the lower boundary; The derivative of the first-order auxiliary variable associated with the upper boundary; A first-order auxiliary variable associated with the upper boundary; A second-order auxiliary variable associated with the upper boundary; The derivative of the second-order auxiliary variable associated with the lower boundary; The second-order auxiliary variable associated with the lower boundary raised to the power of α; b H : Parameters to be designed; l q : Input coefficients; u H This is the second control input. u H To input the lower limit, is the upper limit of the input, and k is the parameter to be designed.

[0095] Furthermore, based on the conversion error of the first-order altitude tracking error, the differential of the first-order altitude tracking conversion error of the altitude subsystem physical quantities is determined.

[0096] By performing an error transformation and substituting (2), (6), and (18) into the equations, we obtain: (19) in, This represents the derivative of the first-order height tracking conversion error. For the inclination angle of the flight path, Differentiate the instructions for the height subsystem. These are the parameters to be designed. For the first-order auxiliary variable associated with the lower boundary Power of 1 For the parameters to be designed, Let it be the first-order auxiliary variable of the lower boundary. : Second-order auxiliary variables associated with the lower boundary; For the first-order auxiliary variable associated with the upper boundary Power of 1 The first-order auxiliary variable associated with the upper boundary, A second-order auxiliary variable associated with the upper boundary; The lower boundary of the preset performance function for the height boundary; The tracking error is at the height boundary; : The upper bound of the preset performance function for the height boundary. The boundary function differential is preset for the performance of the height subsystem.

[0097] Furthermore, based on the differential of the first-order altitude tracking conversion error, the first-order virtual input of the altitude subsystem is determined.

[0098] Design the first virtual input: (20) in, The controller parameters to be designed for the altitude subsystem are as follows: This is the track tilt angle command. For the first-order auxiliary variable associated with the lower boundary Power of 1 For the parameters to be designed, Let it be the first-order auxiliary variable of the lower boundary. For the first-order auxiliary variable associated with the upper boundary Power of 1 Differentiate the instructions for the height subsystem. : Second-order auxiliary variables associated with the lower boundary A second-order auxiliary variable associated with the upper boundary; The lower boundary of the preset performance function for the height boundary; The tracking error is at the height boundary; : The upper bound of the preset performance function for the height boundary. The performance lower boundary function differentiation is preset for the height subsystem. Due to high conversion error, For high conversion error Power of 1.

[0099] The first-order virtual input of the altitude subsystem is determined based on the differential of the first-order altitude tracking conversion error.

[0100] The method provided in this embodiment determines the first-order altitude boundary constraint of the preset performance control based on the first-order altitude tracking error. The altitude auxiliary variable in the first-order altitude boundary constraint is obtained based on the design of the second-order fast finite-time convergence auxiliary system. Based on the first-order altitude boundary constraint and the first-order altitude tracking error, the first-order altitude tracking conversion error derivative of the altitude subsystem physical quantity is determined to realize the control of the first virtual input track tilt angle command.

[0101] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle determines the derivative of the second-order altitude tracking conversion error based on the second-order tracking error, and determines the second-order virtual input of the altitude subsystem based on the derivative of the second-order tracking error using a second hyper-torsional expansion state observer, comprising: Based on the second-order tracking error, the differential of the second-order height tracking conversion error is determined; Based on the second super-twisted expansion state observer, the second-order height unknown term in the differential of the second-order height tracking conversion error is estimated, and the estimated value of the second-order height unknown term is obtained. Based on the estimated value of the second-order height unknown term, the second-order virtual input of the height subsystem is determined.

[0102] Specifically, in some embodiments, the specific implementation process of determining the second-order virtual input of the height subsystem based on the second-order tracking error through the second super-twisted expansion state observer includes the following steps: First, define the second-order tracking error: in, This represents the second-order tracking error (i.e., the tracking error of the track inclination angle). Indicates the inclination angle of the flight path. Indicates the track tilt angle command; Differentiating it yields: (twenty one) This represents the second-order tracking error derivative (i.e., the tracking error derivative of the track inclination angle). This represents the differential of the track inclination command. express, express, This indicates a disturbance in the track inclination angle. Indicates the pitch angle.

[0103] Furthermore, based on the second-order tracking error, the second-order altitude tracking error differential of the altitude subsystem physical quantities is determined. Based on the second super-torsional expansion state observer, the second-order altitude unknown term in the second-order altitude tracking error differential is determined. Estimate the value of the second-order height unknown term.

[0104] For example, designing NTESO to Make an estimate: (twenty two) in, , , , The parameters to be designed for the second super-torsional expansion state observer are as follows: This represents the estimation error of the second-order unknown height term. Indicates the inclination angle of the flight path. Indicates the track tilt angle command. This represents the estimated value of the first-order auxiliary system. For the second-order height unknown term The estimated value, Indicates the pitch angle.

[0105] Furthermore, based on the estimate of the second-order height unknown term... The second-order virtual input of the height subsystem is determined.

[0106] The second-order virtual input of the height subsystem is designed as follows: (twenty three) in, Indicates pitch angle command, For the second-order height unknown term The estimated value, , The gain of the fourth-order backstepping controller, This represents the second-order tracking error (i.e., the tracking error of the track inclination angle). The differential of the tracking error represents the track inclination angle. This represents the first-order height conversion error.

[0107] Furthermore, based on the second-order virtual input pitch angle command The third-order tracking error (pitch angle tracking error) is determined, and its derivative is obtained. The second-order altitude unknown term in the derivative of the second-order altitude tracking conversion error is then obtained using the third super-torsional expansion state observer. Make an estimate, The differential of the pitch angle command, To obtain an estimate of the third-order altitude unknown term by perturbing the pitch rate, the third-order virtual input of the altitude subsystem is determined based on the estimate of the third-order altitude unknown term, which is how the pitch rate command is obtained. This process is similar to the second-stage processing method, and will not be described in detail here.

[0108] The method provided in this embodiment determines the second-order virtual input of the altitude subsystem based on the second-order tracking error, and eliminates auxiliary variables from the virtual input, which is a key sub-step for realizing fault-tolerant control of the altitude subsystem.

[0109] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle, based on a fourth-order tracking error, determines the second control input of the altitude subsystem through a fourth super-torsional expansion state observer, including: Based on the fourth-order tracking error and the second-order fast finite-time convergence auxiliary system, the derivative of the fourth-order height tracking error is determined. Based on the fourth super-twisted expansion state observer, the fourth-order height unknown term in the fourth-order height tracking conversion error differential is estimated, and the estimated value of the fourth-order height unknown term is obtained. The second control input of the altitude subsystem is determined based on the estimated value of the fourth-order altitude unknown term.

[0110] Specifically, the implementation process of determining the second control input of the height subsystem based on the fourth-order tracking error through the second second-order fast finite-time convergence auxiliary system and the second super-torsion expansion state observer includes the following steps: First, based on the fourth-order tracking error and the second-order fast finite-time convergence auxiliary system, the derivative of the fourth-order tracking error is determined.

[0111] Specifically, determine the fourth-order tracking error (i.e., the pitch angular velocity error): Differentiating the above equation, we get: (twenty four) in, For the differential of pitch angular velocity error, For height input, For pitch angular velocity disturbance, The differential of the pitch angular velocity command, For the parameters to be designed, This represents a second-order auxiliary variable associated with the lower boundary. This represents a second-order auxiliary variable associated with the lower boundary. This represents a second-order auxiliary variable associated with the upper boundary. Power of 1 This represents a second-order auxiliary variable associated with the upper boundary. This represents the minimum value of the height input. This represents the maximum value of the height input. This indicates the parameters to be designed.

[0112] Furthermore, based on the fourth-order height boundary constraints and the fourth-order tracking error, the fourth-order height tracking conversion error differential of the height subsystem physical quantities is determined; based on the second super-twisted expansion state observer, the fourth-order height unknown term in the fourth-order height tracking conversion error differential is estimated to obtain the estimated value of the fourth-order height unknown term.

[0113] For example, designing a second super-twisted expansion state observer for the fourth-order height unknown. Make an estimate: (25) in, , , , These are the design parameters for the second super-twisted expansion state observer. This represents the estimation error of the fourth-order unknown height term. This is the estimate of the fourth-order height unknown term (the estimate of the state variables of the second-order auxiliary system). Indicates pitch angular velocity, This indicates the pitch rate command. This represents the estimated state variables of the first-order auxiliary system. For height input (second control input). Furthermore, based on the estimated value of the fourth-order altitude unknown term, the second control input of the altitude subsystem is determined.

[0114] The input design for the height subsystem is as follows: (26) in, This is the second control input. This is the estimate of the fourth-order height unknown term (the estimate of the state variables of the second-order auxiliary system). , For the pitch rate gain of the controller, This indicates the pitch angular velocity tracking error. Indicates pitch angular velocity tracking error Power of 1 For the parameters to be designed, This represents a second-order auxiliary variable associated with the upper boundary. Power of 1 This represents a second-order auxiliary variable associated with the upper boundary. This represents a second-order auxiliary variable associated with the lower boundary. Represented as the second-order auxiliary variable of the lower boundary. For pitch angle tracking error, This indicates the parameters to be designed.

[0115] The method provided in this embodiment uses a fourth-order backstepping controller, which is also determined based on a non-singular preset performance controller. The second control input of the altitude subsystem is dynamically generated through the fourth-order backstepping controller. For hypersonic aircraft subjected to strong interference, input saturation, and time-varying actuator failures, it can effectively perform non-singular preset performance fault-tolerant control.

[0116] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided. The actuators of the hypersonic vehicle include an engine and an elevator. A first control input is used to characterize the fuel equivalence ratio control command of the engine, and a second control input is used to characterize the elevator deflection angle control command of the elevator. Applying the first control input and the second control input to the actuators of the hypersonic vehicle includes: The fuel equivalence ratio control command is applied to the engine to control the flight speed of the hypersonic vehicle. The elevator deflection control command is applied to the elevator to control the flight altitude of the hypersonic vehicle.

[0117] Specifically, in some embodiments, the actuators of the hypersonic vehicle include an engine and an elevator. A first control input is used to characterize the engine's fuel equivalence ratio control command, and a second control input is used to characterize the elevator's elevator deflection angle control command.

[0118] Step 104 can be achieved through the following steps: The engine's fuel equivalence ratio control command is applied to the engine to control the flight speed of the hypersonic vehicle, and the elevator deflection control command is applied to the elevator to control the flight altitude of the hypersonic vehicle.

[0119] The method provided in this embodiment designs a fast, finite-time stable non-singular preset performance control method. Even in the event of time-varying faults, strong interference, and saturation, the error can still converge to the preset performance boundary.

[0120] Figure 2 This is one of the schematic diagrams illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention. It represents the speed tracking error curve, with the horizontal and vertical axes representing simulation time and the vertical axis representing speed. The three curves from top to bottom represent the upper boundary of the preset performance of the speed subsystem, the speed tracking error, and the lower boundary of the preset performance of the speed subsystem, respectively.

[0121] Figure 3 This is the second schematic diagram of the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention. It shows the altitude tracking error curve, with the horizontal and vertical axes representing simulation time and the vertical axis representing altitude. The three curves respectively represent the upper boundary of the preset performance of the altitude subsystem, the altitude tracking error, and the lower boundary of the preset performance of the altitude subsystem.

[0122] Figure 4 This is the third schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention. It represents the ideal input curve of the rudder deflection angle, with the horizontal and vertical axes representing simulation time and the vertical axis representing the rudder deflection angle. Figure 5 This is the fourth schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention. Figure 5 The curve represents the input limit of the rudder deflection angle, with the horizontal and vertical axes representing time and the vertical axis representing the rudder deflection angle. This indicates that the aircraft control system can operate normally under the input limit.

[0123] Figure 6This is the fifth schematic diagram illustrating the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention, showing the ideal input curve of the engine opening. Figure 7 This is the sixth schematic diagram of the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention. It shows the engine opening input limiting curve, with the horizontal axis representing the simulation time and the vertical axis representing the engine opening. Figure 6 and Figure 7 The description indicates that the aircraft control system can operate normally under input limits.

[0124] Figure 8 This is the seventh schematic diagram of the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention. It shows the angle of attack variation curve, with the horizontal axis representing the simulation time and the vertical axis representing the angle of attack.

[0125] Figure 9 This is the eighth schematic diagram of the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention. It shows the trajectory angle change curve, with the horizontal axis representing the simulation time and the vertical axis representing the trajectory angle.

[0126] Figure 10 This is the ninth illustration of the effect of the non-singular preset performance fault-tolerant control method for hypersonic aircraft provided by the present invention. It shows the pitch angle change curve, with the horizontal axis representing the simulation time and the vertical axis representing the pitch angle.

[0127] Figure 11 This is the tenth illustration of the effect of the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by this invention, showing the pitch angular velocity variation curve, with the horizontal axis representing simulation time and the vertical axis representing pitch angular velocity. From Figure 8 , 9 Figures 10 and 11 show that the aircraft's attitude is normal.

[0128] The non-singular preset performance fault-tolerant control device for hypersonic vehicles provided by the present invention is described below. The non-singular preset performance fault-tolerant control device for hypersonic vehicles described below can be referred to in correspondence with the non-singular preset performance fault-tolerant control method for hypersonic vehicles described above.

[0129] Figure 12 This is a schematic diagram of the non-singular preset performance fault-tolerant control device for hypersonic vehicles provided by the present invention, as shown below. Figure 12 As shown, the non-singular preset performance fault-tolerant control device 1200 of the hypersonic vehicle includes the following modules: The model building module 1210 is used to build a longitudinal dynamic model of a hypersonic vehicle, and decompose the longitudinal dynamic model into a dynamic model of a velocity subsystem and a multi-order dynamic model of an altitude subsystem; the velocity subsystem is a first-order nonlinear system and the altitude subsystem is a fourth-order linear subsystem. Control module 1220 is used to dynamically generate the first control input of the velocity subsystem based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the speed boundary constraints of the preset performance control, through a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying faults of the actuator, and strong interference; For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

[0130] The apparatus provided in this embodiment includes a model building module 1210, used to build a longitudinal dynamic model of the hypersonic vehicle, decomposing the longitudinal dynamic model into a dynamic model of the velocity subsystem and a multi-order dynamic model of the altitude subsystem, wherein the velocity subsystem is a first-order nonlinear system and the altitude subsystem is a fourth-order linear subsystem; a control module 1220, used for the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, dynamically generating a first control input for the velocity subsystem through a non-singular preset performance controller, wherein the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to within the preset boundary under input saturation, time-varying failure of the actuator, and strong interference; further, for the altitude subsystem, based on the multi-order dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the multi-order altitude boundary constraints of the preset performance control, dynamically generating a second control input for the altitude subsystem through a fourth-order backstepping controller, wherein the fourth-order backstepping controller is determined based on the non-singular preset performance controller; and then, applying the first and second control inputs to the actuators of the hypersonic vehicle.

[0131] In this invention, a non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying actuator faults, and strong disturbances. The fourth-order backstepping controller is also determined based on the non-singular preset performance controller. The longitudinal dynamic model of the hypersonic vehicle is decomposed into a dynamic model of the velocity subsystem and a sub-order dynamic model of the altitude subsystem. Then, the first control input of the velocity subsystem is dynamically generated by the non-singular preset performance controller, and the second control input of the altitude subsystem is dynamically generated by the fourth-order backstepping controller. For hypersonic vehicles subjected to strong disturbances, input saturation, and time-varying actuator faults, non-singular preset performance fault-tolerant control can be effectively performed.

[0132] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided, wherein the control module 1220 is specifically used for: The speed tracking error is determined based on the first-order system state variables in the dynamic model of the speed subsystem and the tracking command of the speed subsystem. Based on the speed tracking error, determine the differential of the speed tracking error; Based on the preset performance boundary constraints of the velocity subsystem and the velocity tracking error differential, the velocity conversion error differential of the physical quantities of the velocity subsystem is determined; the velocity auxiliary variable in the preset performance boundary constraints of the velocity subsystem is obtained by designing a first second-order fast finite-time convergence auxiliary system; the first second-order fast finite-time convergence auxiliary system is defined in the real number domain. The unknown velocity term in the velocity conversion error differential is estimated using the first super-twisted expansion state observer to obtain an estimated value for the unknown velocity term; the first super-twisted expansion state observer is designed based on the velocity tracking error differential. Based on the estimated value of the unknown speed term, the updated differential of the speed conversion error is obtained, and based on the updated differential of the speed conversion error, the first control input of the speed subsystem is determined.

[0133] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided, wherein the control module 1220 is specifically used for: For the first-order system of the altitude subsystem, the first-order altitude tracking error is determined based on the hierarchical dynamic model of the altitude subsystem and the first-order tracking command of the altitude subsystem. Based on the first-order altitude tracking error, the first-order virtual input of the altitude subsystem is determined; Based on the first-order virtual input of the altitude subsystem, the second-order tracking error is determined, and based on the second-order tracking error, the differential of the second-order altitude tracking conversion error is determined. The second-order virtual input of the altitude subsystem is then determined by the second super-twisted expansion state observer based on the differential of the second-order tracking error. Based on the second-order virtual input of the height subsystem, the third-order tracking error is determined, and based on the third-order tracking error, the differential of the third-order height tracking conversion error is determined. The third-order virtual input of the height subsystem is then determined by the third super-twisted expansion state observer based on the differential of the third-order tracking error. The fourth-order tracking error is determined based on the third-order virtual input of the height subsystem and the height auxiliary variable of the second-order fast finite-time convergence auxiliary system. Based on the fourth-order tracking error, the second control input of the height subsystem is determined by the fourth super-twisted expansion state observer.

[0134] According to the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention, the control module 1220 is further configured to: Based on the first-order altitude tracking error, the differential of the altitude tracking error is determined; Based on the differential of the altitude tracking error and the preset performance function of the altitude subsystem, the conversion error of the first-order altitude tracking error is determined; Based on the conversion error of the first-order altitude tracking error, the differential of the first-order altitude tracking conversion error of the altitude subsystem physical quantities is determined; The first-order virtual input of the altitude subsystem is determined based on the differential of the first-order altitude tracking conversion error.

[0135] According to the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention, the control module 1220 is further configured to: Based on the second-order tracking error, the derivative of the second-order height tracking conversion error is determined; Based on the second super-twisted expansion state observer, the second-order height unknown term in the second-order height tracking conversion error differential is estimated to obtain the estimated value of the second-order height unknown term; Based on the estimated value of the second-order height unknown term, the second-order virtual input of the height subsystem is determined.

[0136] According to the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the present invention, the control module 1220 is further configured to: Based on the fourth-order tracking error and the second second-order fast finite-time convergence auxiliary system, the derivative of the fourth-order height tracking error is determined. Based on the fourth super-twisted expansion state observer, the fourth-order height unknown term in the fourth-order height tracking error differential is estimated to obtain the estimated value of the fourth-order height unknown term; Based on the estimated value of the fourth-order unknown altitude term, the second control input of the altitude subsystem is determined.

[0137] According to the present invention, a non-singular preset performance fault-tolerant control method for a hypersonic vehicle is provided, wherein the actuator of the hypersonic vehicle includes an engine and an elevator; the first control input is used to characterize the fuel equivalence ratio control command of the engine, and the second control input is used to characterize the elevator deflection angle control command of the elevator; The control module 1220 is also used for: The fuel equivalence ratio control command of the engine is applied to the engine so that the engine can control the flight speed of the hypersonic vehicle; The elevator deflection control command is applied to the elevator so that the elevator can control the flight altitude of the hypersonic vehicle.

[0138] Figure 13 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 13 As shown, the electronic device may include: a processor 1310, a communications interface 1320, a memory 1330, and a communication bus 1340, wherein the processor 1310, the communications interface 1320, and the memory 1330 communicate with each other via the communication bus 1340. The processor 1310 can call logical instructions in the memory 1330 to execute a non-singular preset performance fault-tolerant control method for hypersonic vehicles, the method including: A longitudinal dynamic model of a hypersonic vehicle is constructed, and the longitudinal dynamic model is decomposed into a dynamic model of a velocity subsystem and a fractional-order dynamic model of an altitude subsystem; the velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem. For the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the first control input of the velocity subsystem is dynamically generated by a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator, and strong interference. For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

[0139] Furthermore, the logical instructions in the aforementioned memory 1330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0140] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the non-singular preset performance fault-tolerant control method for hypersonic vehicles provided by the above methods, the method comprising: A longitudinal dynamic model of a hypersonic vehicle is constructed, and the longitudinal dynamic model is decomposed into a dynamic model of a velocity subsystem and a fractional-order dynamic model of an altitude subsystem; the velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem. For the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the first control input of the velocity subsystem is dynamically generated by a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator, and strong interference. For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

[0141] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a non-singular preset performance fault-tolerant control method for a hypersonic vehicle provided by the methods described above, the method comprising: A longitudinal dynamic model of a hypersonic vehicle is constructed, and the longitudinal dynamic model is decomposed into a dynamic model of a velocity subsystem and a fractional-order dynamic model of an altitude subsystem; the velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem. For the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the first control input of the velocity subsystem is dynamically generated by a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator, and strong interference. For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

[0142] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A non-singular preset performance fault-tolerant control method for a hypersonic vehicle, characterized in that, include: A longitudinal dynamic model of a hypersonic vehicle is constructed, and the longitudinal dynamic model is decomposed into a dynamic model of a velocity subsystem and a fractional dynamic model of an altitude subsystem. The velocity subsystem is a first-order nonlinear system, and the altitude subsystem is a fourth-order linear subsystem. For the velocity subsystem, based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control, the first control input of the velocity subsystem is dynamically generated by a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error, ensuring that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator, and strong interference. For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

2. The non-singular preset performance fault-tolerant control method for hypersonic vehicles according to claim 1, characterized in that, The first-order system state variables in the dynamic model based on the velocity subsystem, the tracking command of the velocity subsystem, and the velocity boundary constraints of the preset performance control are used to dynamically generate the first control input of the velocity subsystem through a non-singular preset performance controller, including: The speed tracking error is determined based on the first-order system state variables in the dynamic model of the speed subsystem and the tracking command of the speed subsystem. Based on the speed tracking error, determine the differential of the speed tracking error; Based on the preset performance boundary constraints of the velocity subsystem and the velocity tracking error differential, the velocity conversion error differential of the physical quantities of the velocity subsystem is determined; the velocity auxiliary variable in the preset performance boundary constraints of the velocity subsystem is obtained by designing a first second-order fast finite-time convergence auxiliary system; the first second-order fast finite-time convergence auxiliary system is defined in the real number domain. The unknown velocity term in the velocity conversion error differential is estimated using the first super-twisted expansion state observer to obtain an estimated value for the unknown velocity term; the first super-twisted expansion state observer is designed based on the velocity tracking error differential. Based on the estimated value of the unknown speed term, the updated differential of the speed conversion error is obtained, and based on the updated differential of the speed conversion error, the first control input of the speed subsystem is determined.

3. The non-singular preset performance fault-tolerant control method for hypersonic vehicles according to claim 1, characterized in that, The second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller based on the hierarchical dynamic model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, including: For the first-order system of the altitude subsystem, the first-order altitude tracking error is determined based on the hierarchical dynamic model of the altitude subsystem and the first-order tracking command of the altitude subsystem. Based on the first-order altitude tracking error, the first-order virtual input of the altitude subsystem is determined; Based on the first-order virtual input of the altitude subsystem, the second-order tracking error is determined, and based on the second-order tracking error, the differential of the second-order altitude tracking conversion error is determined. The second-order virtual input of the altitude subsystem is then determined by the second super-twisted expansion state observer based on the differential of the second-order tracking error. Based on the second-order virtual input of the height subsystem, the third-order tracking error is determined, and based on the third-order tracking error, the differential of the third-order height tracking conversion error is determined. The third-order virtual input of the height subsystem is then determined by the third super-twisted expansion state observer based on the differential of the third-order tracking error. The fourth-order tracking error is determined based on the third-order virtual input of the height subsystem and the height auxiliary variable of the second-order fast finite-time convergence auxiliary system. Based on the fourth-order tracking error, the second control input of the height subsystem is determined by the fourth super-twisted expansion state observer.

4. The non-singular preset performance fault-tolerant control method for hypersonic vehicles according to claim 3, characterized in that, The step of determining the first-order virtual input of the altitude subsystem based on the first-order altitude tracking error includes: Based on the first-order altitude tracking error, the differential of the altitude tracking error is determined; Based on the differential of the altitude tracking error and the preset performance function of the altitude subsystem, the conversion error of the first-order altitude tracking error is determined; Based on the conversion error of the first-order altitude tracking error, the differential of the first-order altitude tracking conversion error of the altitude subsystem physical quantities is determined; The first-order virtual input of the altitude subsystem is determined based on the differential of the first-order altitude tracking conversion error.

5. The non-singular preset performance fault-tolerant control method for hypersonic vehicles according to claim 3, characterized in that, The step of determining the differential of the second-order height tracking conversion error based on the second-order tracking error, and determining the second-order virtual input of the height subsystem based on the differential of the second-order tracking error using a second super-twisted expansion state observer, includes: Based on the second-order tracking error, the derivative of the second-order height tracking conversion error is determined; Based on the second super-twisted expansion state observer, the second-order height unknown term in the second-order height tracking conversion error differential is estimated to obtain the estimated value of the second-order height unknown term; Based on the estimated value of the second-order height unknown term, the second-order virtual input of the height subsystem is determined.

6. The non-singular preset performance fault-tolerant control method for hypersonic vehicles according to claim 3, characterized in that, The determination of the second control input of the height subsystem based on the fourth-order tracking error using the fourth super-twisted expansion state observer includes: Based on the fourth-order tracking error and the second second-order fast finite-time convergence auxiliary system, the derivative of the fourth-order height tracking error is determined. Based on the fourth super-twisted expansion state observer, the fourth-order height unknown term in the fourth-order height tracking error differential is estimated to obtain the estimated value of the fourth-order height unknown term; Based on the estimated value of the fourth-order unknown altitude term, the second control input of the altitude subsystem is determined.

7. The non-singular preset performance fault-tolerant control method for hypersonic vehicles according to claim 1, characterized in that, The actuators of the hypersonic vehicle include an engine and an elevator; the first control input is used to characterize the fuel equivalence ratio control command of the engine, and the second control input is used to characterize the elevator deflection angle control command of the elevator. The step of applying the first control input and the second control input to the actuator of the hypersonic vehicle includes: The fuel equivalence ratio control command of the engine is applied to the engine so that the engine can control the flight speed of the hypersonic vehicle; The elevator deflection control command is applied to the elevator so that the elevator can control the flight altitude of the hypersonic vehicle.

8. A non-singular preset performance fault-tolerant control device for a hypersonic vehicle, characterized in that, include: The model building module is used to construct a longitudinal dynamic model of a hypersonic vehicle, which decomposes the longitudinal dynamic model into a dynamic model of a velocity subsystem and a multi-order dynamic model of an altitude subsystem; the velocity subsystem is a first-order nonlinear system and the altitude subsystem is a fourth-order linear subsystem. The control module is used to dynamically generate the first control input of the velocity subsystem based on the first-order system state variables in the dynamic model of the velocity subsystem, the tracking command of the velocity subsystem, and the speed boundary constraints of the preset performance control, through a non-singular preset performance controller; the non-singular preset performance controller is used to dynamically adjust the performance boundary to constrain the tracking error and ensure that the tracking error converges to the preset boundary under input saturation, time-varying failure of the actuator, and strong interference. For the altitude subsystem, based on the hierarchical dynamics model of the altitude subsystem, the first-order tracking command of the altitude subsystem, and the hierarchical altitude boundary constraints of the preset performance control, the second control input of the altitude subsystem is dynamically generated by a fourth-order backstepping controller; the fourth-order backstepping controller is determined based on the non-singular preset performance controller. The first control input and the second control input are applied to the actuators of the hypersonic vehicle.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the non-singular preset performance fault-tolerant control method for hypersonic vehicles as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the non-singular preset performance fault-tolerant control method for hypersonic vehicles as described in any one of claims 1 to 7.

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