A high-performance aircraft mechanism modeling and game robust control method

Abstract

This invention belongs to the field of robust control technology for high-performance aircraft. It discloses a mechanism modeling and game-theoretic robust control method for high-performance aircraft. By acquiring disturbance factors in flight and constructing a disturbance model accordingly, a modelable disturbance observer is designed based on complex multi-source disturbances, and the disturbance is estimated in real time. This achieves active perception and compensation for known structural disturbances. By estimating disturbances through the disturbance model, modelable disturbances can be observed and compensated, reducing the impact of disturbances on the system. By treating the disturbance as a participant based on a zero-sum game, a worst-case anti-interference robust control strategy can be obtained, thereby achieving robust control, enhancing the aircraft's anti-interference capability, and ensuring its normal flight in complex environments.

Description

Technical Field

[0001] This invention belongs to the field of robust control technology for high-performance aircraft, and relates to a mechanism modeling and game-theoretic robust control method and system for high-performance aircraft. Background Technology

[0002] High-performance aircraft fly at Mach numbers greater than 5, and their flight environment is complex. The near-space flight environment is not fully understood, and they face extreme environments such as high temperature, high pressure, and high dynamics during high-speed flight. All of these place higher demands on the reliability and stability of the control system.

[0003] The uncertainties in aerodynamic parameters and engine attitude constraints of high-performance aircraft, as well as the disturbances and faults that may be encountered during flight, make it difficult for traditional high-performance aircraft control methods to simultaneously guarantee flight stability, trajectory tracking accuracy, and robustness when faced with their strong nonlinearity, strong coupling, model parameter uncertainties, and multi-source internal and external disturbances during flight. Especially in extreme high-altitude and high-speed environments, existing control strategies often cannot effectively handle the complex adversarial relationship between disturbances and system dynamics, leading to a decline in control performance or even instability. Summary of the Invention

[0004] The purpose of this invention is to solve the problem that existing technologies cannot effectively handle the complex adversarial relationship between disturbances and system dynamics when aircraft are subjected to multiple internal and external disturbances, leading to a decline in control performance or even instability. This invention provides a high-performance aircraft mechanism modeling and game-theoretic robust control method and system.

[0005] To achieve the above objectives, the present invention employs the following technical solution: A mechanism modeling and game-theoretic robust control method for high-performance aircraft includes the following steps: Based on the force factors of high-performance aircraft, construct a high-performance mechanism model; Obtain the disturbance factors of high-performance aircraft during flight, and construct a disturbance model based on the disturbance factors; A modelable disturbance observer is constructed based on the disturbance model, and the disturbance model is estimated based on the modelable disturbance observer to obtain the disturbance estimate; An extended model of the high-performance mechanism model is constructed based on the high-performance mechanism model, the disturbance model, and the disturbance estimation. The performance index of the extended model optimization is defined. Based on the performance index and the extended model, a game model between high-performance aircraft control and disturbance is constructed. The game model is solved to obtain the control strategy.

[0006] A further improvement of the present invention is that: Based on the force factors of high-performance aircraft, a high-performance mechanism model is constructed:

[0007] in, , Indicates speed, Indicates the inclination angle of the flight path. Indicates flight altitude. Indicates angle of attack. Represents pitch rate; control input is , This is the throttle valve adjustment value. This refers to the elevator deflection angle.

[0008] The process of acquiring disturbance factors of high-performance aircraft during flight and constructing a disturbance model based on these disturbance factors includes: Disturbances experienced by high-performance aircraft during flight are classified into modelable disturbances and unmodelable disturbances; Construct a modelable perturbation model based on modelable perturbations; Unmodelable perturbations are characterized as norm-bounded uncertainties; By integrating modelable perturbation models and non-modelable perturbation representations into a high-performance mechanistic model, a perturbation model is obtained.

[0009] The process of constructing a modelable disturbance observer based on the disturbance model, and estimating the disturbance model based on the modelable disturbance observer to obtain the disturbance estimate includes: Construct a modelable perturbation observer based on the modelable perturbation model:

[0010] Define the interference observer error The interference observer error satisfies:

[0011] in, Represents the harmonic matrix. Represents the harmonic output matrix. This indicates a modelable disturbance or interference. Indicates intermediate variables; Indicates the state of the reference model; Represents the gain matrix; Indicates the system status; Represents the state matrix; This represents the input matrix.

[0012] The extended model of the high-performance mechanism model, constructed based on the high-performance mechanism model, disturbance model, and disturbance estimation, defines the performance index for optimization of the extended model. Based on the performance index and the extended model, a game-theoretic model between high-performance aircraft control and disturbance is constructed, including: A composite controller is constructed, and the disturbance model is incorporated into the composite controller and then into the high-performance mechanism model to obtain an extended model of the high-performance mechanism model. Based on the definition of the extended model of the high-performance mechanism model, the performance index is used to characterize the antagonistic relationship between disturbance and control; Based on performance metrics, the system's control problem is transformed into a zero-sum game problem.

[0013] Solving the game model to obtain the control strategy includes: Based on the zero-sum game problem between disturbance and control, the Hamiltonian function is constructed as follows:

[0014] Obtain the game strategy:

[0015]

[0016] Based on the extreme value constraints, the optimal control and disturbance quantities are obtained by solving:

[0017] in, State error weights; Expand the state vector; Control input vector; Control input weights; Disturbance attenuation level; External disturbance vector; State matrix; Input matrix; Perturbation input matrix; Optimal control vector; Worst-case perturbation vector; The solution to the riccati equation.

[0018] A high-performance aircraft mechanism modeling and game-theoretic robust control system includes: The aircraft model building module is used to build high-performance mechanism models based on the force factors of high-performance aircraft. The disturbance model building module is used to acquire disturbance factors of high-performance aircraft during flight and build a disturbance model based on the disturbance factors. The disturbance estimation module is used to construct a modelable disturbance observer based on the disturbance model, and to estimate the disturbance model based on the modelable disturbance observer to obtain the disturbance estimate; The solver module is used to construct an extended model of the high-performance mechanism model based on the high-performance mechanism model, the disturbance model, and the disturbance estimation. It defines the performance index for the optimization of the extended model, constructs a game model between high-performance aircraft control and disturbance based on the performance index and the extended model, solves the game model, and obtains the control strategy.

[0019] A computer program product includes a computer program that, when executed by a processor, implements the method described in any one of the present invention.

[0020] A terminal device includes 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 steps of any of the methods described in this invention.

[0021] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the methods described in this invention.

[0022] Compared with the prior art, the present invention has the following beneficial effects: This invention discloses a mechanism modeling and game-theoretic robust control method for high-performance aircraft. By acquiring disturbance factors during flight and constructing a disturbance model accordingly, a modelable disturbance observer is designed based on complex multi-source disturbances, and the disturbance is estimated in real time. This achieves active perception and compensation for known structural disturbances. By estimating disturbances through the disturbance model, modelable disturbances can be observed and compensated, reducing the impact of disturbances on the system. By treating the disturbance as a participant based on a zero-sum game, a worst-case anti-interference robust control strategy can be obtained, thereby achieving robust control, enhancing the aircraft's anti-interference capability, and ensuring its normal flight in complex environments. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart disclosed in an embodiment of the present invention; Figure 2 This is a speed tracking effect diagram disclosed in an embodiment of the present invention; Figure 3 This is a diagram illustrating the height tracking effect disclosed in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper," "lower," "horizontal," or "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first" and "second" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] Furthermore, the use of the term "horizontal" does not imply that the component must be absolutely horizontal, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0030] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0031] The present invention will now be described in further detail with reference to the accompanying drawings: See Figures 1 to 3This invention discloses a mechanism modeling and game-theoretic robust control method for high-performance aircraft. Addressing existing problems, it introduces robust technology to ensure stable flight of the aircraft under uncertain conditions. Robust control technology can effectively improve the flight performance of high-performance aircraft. High-performance aircraft are subject to various disturbances during flight, such as aerodynamic parameter perturbations and uncertainties in control response delay coefficients. Robust control technology can enhance the aircraft's anti-interference capability, ensuring normal flight even in complex environments. Using a disturbance estimator allows for the observation and compensation of modelable disturbances, thereby significantly reducing the impact of disturbances on the system. Furthermore, by treating the disturbance as a participant based on a zero-sum game, a worst-case anti-interference robust control strategy can be obtained, thus achieving robust control.

[0032] Example 1 This invention discloses a high-performance aircraft mechanism modeling and game-theoretic robust control method, comprising the following steps: Step 1: Construct a high-performance mechanism model based on the force factors of high-performance aircraft; Step 2: Obtain the disturbance factors of the high-performance aircraft during flight, and construct a disturbance model based on the disturbance factors; Step 3: Construct a modelable disturbance observer based on the disturbance model, and estimate the disturbance model based on the modelable disturbance observer to obtain the disturbance estimate; Step 4: Based on the high-performance mechanism model, disturbance model, and disturbance estimation, construct an extended model of the high-performance mechanism model, define the performance index for optimization of the extended model, construct a game model between high-performance aircraft control and disturbance based on the performance index and the extended model, solve the game model, and obtain the control strategy.

[0033] Example 2 This invention discloses a high-performance aircraft mechanism modeling and game-theoretic robust control method, comprising the following steps: Step 1: Analyze the forces acting on the high-performance aircraft, including aerodynamic forces, thrust, and air resistance, construct a high-performance mechanism model, and simplify the aircraft model according to mission requirements; Furthermore, in this step, constructing a high-performance aircraft model includes the following steps: In the stable flight mission studied, the following assumptions are made regarding the model construction of the high-performance aircraft: (1) Considering the aircraft itself High-performance aircraft have strictly symmetrical geometric shapes and uniform internal mass distribution. Ignoring fuel sloshing, i.e., inertial product... ; The interaction between the airflow around the vehicle and the jet stream from the engine is not considered in hypersonic vehicles; The engine thrust installation angle and the rotational inertia of the control surfaces are not considered. All external forces acting on a high-performance aircraft combine to act on its center of mass.

[0034] (2) Considering external factors If we disregard the Earth's rotation and consider the Earth as a stationary inertial system; Ignoring the curvature of the Earth, we can assume it is a flat plane with a stable gravitational acceleration.

[0035] The high-performance aircraft six-degree-of-freedom model constructed based on the above assumptions has strong coupling and severe nonlinearity. The nonlinear motion model of the whole state has a high order, which makes the system design more difficult.

[0036] Therefore, we assume its lateral motion parameter is 0 and consider the longitudinal model of the aircraft:

[0037] In the formula, Indicates speed, Indicates the inclination angle of the flight path. Indicates flight altitude. Indicates angle of attack. Indicates pitch rate; Indicates the mass of the aircraft; It is the acceleration due to gravity; Indicates pitching moment; Indicates delay Moment of inertia of the shaft.

[0038] In the formula, Indicates thrust. Indicates lift. To represent resistance, the cubic spline interpolation method yields the following form:

[0039] The thrust and valve opening are usually linearly related, where the force and torque parameters are expressed as follows:

[0040] Since the flight altitude of an aircraft affects gravitational acceleration and atmospheric density, we can obtain the relationship between gravitational acceleration and altitude, as well as the relationship between air density and altitude, through the flight altitude.

[0041] The relationship between gravitational acceleration and height is:

[0042] In the formula: The altitude of the aircraft above the Earth's surface; The altitude of the aircraft above the ground is Gravitational acceleration at time; This is the gravitational acceleration at the Earth's surface, typically taken as 9.81. ; This is the Earth's radius, typically taken as 6378140. ; The relationship between air density and altitude is as follows:

[0043] Therefore, flight altitude affects the magnitude of dynamic pressure by influencing air density, thereby altering the aerodynamic forces of the aircraft.

[0044] If the goal is to control an aircraft to cruise in the air at a specific altitude and speed, the system can be linearized into the following model.

[0045] in, The control input is , This is the throttle valve adjustment value. This refers to the elevator deflection angle.

[0046] Step 2: Analyze the impact of disturbance factors on the high-performance aircraft during flight, construct a disturbance model, and provide a characterization method for unmodelable disturbances; Furthermore, in this step, the construction and characterization of the high-performance aircraft disturbance model includes the following steps: The aircraft is subjected to regular, modelable perturbations during flight, including elastic oscillations of its internal structure.

[0047] This model characterizes the type of disturbance in which harmonic oscillations are the dominant component, where, Represents the harmonic matrix. Represents the harmonic output matrix. This represents random disturbance, which is assumed to be bounded.

[0048] Furthermore, using This indicates other unmodelable disturbances that are also norm-bounded.

[0049] Under the influence of disturbances, the system model can be characterized as follows:

[0050] Step 3: Design a modelable perturbation observer to estimate the modelable perturbation; Specifically, a modelable perturbation observer is designed to estimate modelable perturbations; Based on the above modelable harmonic disturbance form, the design is as follows:

[0051] Define the interference observer error Its dynamic equations satisfy:

[0052] Step 4: Construct a game theory model for high-performance aircraft control and disturbance based on zero-sum game theory, and propose a robust control strategy against disturbances based on the Hamiltonian function. Specifically, the design of an interference-resistant robust controller includes the following steps: Design a composite controller:

[0053] Furthermore, Substituting these values ​​into the composite controller and then back into the state equations, we obtain:

[0054] definition The closed-loop equation can be expressed as:

[0055] in, .

[0056] Based on the above state equations, the following optimized performance indices are designed:

[0057] Anti-interference controller and interference based on zero-sum game theory satisfy:

[0058] Based on the above zero-sum game problem, the Hamiltonian function is constructed as follows:

[0059] The final game strategy is obtained:

[0060]

[0061] According to the extreme value condition, the optimal game strategy must satisfy:

[0062] Costate variables satisfy:

[0063] The optimal control and disturbance quantities can be obtained by combining them with the state equations:

[0064] in, Satisfies the Riccati equation: .

[0065] This invention analyzes the force conditions of a high-performance aircraft, constructs a high-performance mechanism model, and simplifies the aircraft model according to mission requirements. A disturbance model is constructed, and a method for representing unmodelable disturbances is provided. A modelable disturbance observer is designed to estimate modelable disturbances. A game-theoretic model for high-performance aircraft control and disturbances is constructed based on a zero-sum game, and a robust anti-disturbance control strategy is given based on the Hamiltonian function. This invention enables the design of a robust game-theoretic controller for high-performance aircraft under multi-source disturbances, and simulation verification results are provided.

[0066] Example 3 This invention discloses a high-performance aircraft mechanism modeling and game-theoretic robust control method, comprising the following steps: Step 1, assuming its lateral motion parameters are 0, consider the longitudinal model of the aircraft:

[0067] If the goal is to control an aircraft to cruise in the air at a specific altitude and speed, the system can be linearized into the following model.

[0068] in, The control input is , This is the throttle valve adjustment value. This refers to the elevator deflection angle.

[0069] Assuming a flight speed of Mach 15, the equilibrium point for linearization is... , , , , , Considering interference factors, the model description of a high-performance aircraft is as follows:

[0070]

[0071] The aerodynamic parameters of a high-performance aircraft are expressed as follows.

[0072] Step 2: During flight, aircraft are subjected to regular, modelable perturbations, including elastic oscillations of their internal structures.

[0073] This model characterizes the type of disturbance in which harmonic oscillations are the dominant component, where, Represents the harmonic matrix. Represents the harmonic output matrix. This represents random disturbance, which is assumed to be bounded.

[0074]

[0075] use This indicates other unmodelable disturbances that are also norm-bounded.

[0076] Under the influence of disturbances, the system model can be characterized as follows:

[0077] Step 3: Design a modelable perturbation observer to estimate the modelable perturbation; Based on the above modelable harmonic disturbance form, the design is as follows:

[0078] Define the interference observer error Its dynamic equations satisfy:

[0079] Step 4, Design of Anti-interference Robust Controller Design a composite controller:

[0080] Will Substituting these values ​​into the composite controller and then back into the state equations, we obtain:

[0081] definition The closed-loop equation can be expressed as:

[0082] in, .

[0083] Based on the above state equations, the following optimized performance indices are designed:

[0084] Anti-interference controller and interference based on zero-sum game theory satisfy:

[0085] Based on the above zero-sum game problem, the Hamiltonian function is constructed as follows:

[0086] The final game strategy is obtained:

[0087]

[0088] According to the extreme value condition, the optimal game strategy must satisfy:

[0089] Costate variables satisfy:

[0090] The optimal control and disturbance quantities can be obtained by combining them with the state equations:

[0091] in, Satisfies the Riccati equation: .

[0092] Example 4 This invention discloses a high-performance aircraft mechanism modeling and game-theoretic robust control system, comprising: The aircraft model building module is used to build high-performance mechanism models based on the force factors of high-performance aircraft. The disturbance model building module is used to acquire disturbance factors of high-performance aircraft during flight and build a disturbance model based on the disturbance factors. The disturbance estimation module is used to construct a modelable disturbance observer based on the disturbance model, and to estimate the disturbance model based on the modelable disturbance observer to obtain the disturbance estimate; The solver module is used to construct an extended model of the high-performance mechanism model based on the high-performance mechanism model, the disturbance model, and the disturbance estimation. It defines the performance index for the optimization of the extended model, constructs a game model between high-performance aircraft control and disturbance based on the performance index and the extended model, solves the game model, and obtains the control strategy.

[0093] A schematic diagram of a terminal device according to an embodiment of the present invention. The terminal device of this embodiment includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the various method embodiments described above. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the various device embodiments described above.

[0094] The computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention.

[0095] The terminal device can be a desktop computer, laptop computer, cloud server, or other device with strong computing power. The terminal device may include, but is not limited to, a processor and memory.

[0096] The optimal choice for the processor is a multi-core high-speed central processing unit (CPU).

[0097] The memory can be used to store the computer program and / or module. The processor implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory.

[0098] If the modules / units integrated into the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0099] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A mechanism modeling and game-theoretic robust control method for high-performance aircraft, characterized in that, Includes the following steps: Based on the force factors of high-performance aircraft, construct a high-performance mechanism model; Obtain the disturbance factors of high-performance aircraft during flight, and construct a disturbance model based on the disturbance factors; A modelable disturbance observer is constructed based on the disturbance model, and the disturbance model is estimated based on the modelable disturbance observer to obtain the disturbance estimate; An extended model of the high-performance mechanism model is constructed based on the high-performance mechanism model, the disturbance model, and the disturbance estimation. The performance index of the extended model optimization is defined. Based on the performance index and the extended model, a game model between high-performance aircraft control and disturbance is constructed. The game model is solved to obtain the control strategy.

2. The high-performance aircraft mechanism modeling and game-theoretic robust control method according to claim 1, characterized in that, Based on the force factors of high-performance aircraft, a high-performance mechanism model is constructed: in, , Indicates speed, Indicates the inclination angle of the flight path. Indicates flight altitude. Indicates angle of attack. Represents pitch rate; control input is , This is the throttle valve adjustment value. This refers to the elevator deflection angle.

3. The high-performance aircraft mechanism modeling and game-theoretic robust control method according to claim 1, characterized in that, The process of acquiring disturbance factors of a high-performance aircraft during flight and constructing a disturbance model based on these disturbance factors includes: Disturbances experienced by high-performance aircraft during flight are classified into modelable disturbances and unmodelable disturbances; Construct a modelable perturbation model based on modelable perturbations; Unmodelable perturbations are characterized as norm-bounded uncertainties; By integrating modelable perturbation models and non-modelable perturbation representations into a high-performance mechanistic model, a perturbation model is obtained.

4. The high-performance aircraft mechanism modeling and game-theoretic robust control method according to claim 3, characterized in that, The process of constructing a modelable disturbance observer based on the disturbance model, and estimating the disturbance model based on the modelable disturbance observer to obtain the disturbance estimate includes: Construct a modelable perturbation observer based on the modelable perturbation model: Define the interference observer error The interference observer error satisfies: in, Represents the harmonic matrix. Represents the harmonic output matrix. This indicates a modelable disturbance or interference. Indicates intermediate variables; Indicates the state of the reference model; Represents the gain matrix; Indicates the system status; Represents the state matrix; This represents the input matrix.

5. The high-performance aircraft mechanism modeling and game-theoretic robust control method according to claim 1, characterized in that, The extended model of the high-performance mechanism model, constructed based on the high-performance mechanism model, disturbance model, and disturbance estimation, defines the performance index for optimization of the extended model. Based on the performance index and the extended model, a game-theoretic model between high-performance aircraft control and disturbance is constructed, including: A composite controller is constructed, and the disturbance model is incorporated into the composite controller and then into the high-performance mechanism model to obtain an extended model of the high-performance mechanism model. Based on the definition of the extended model of the high-performance mechanism model, the performance index is used to characterize the antagonistic relationship between disturbance and control; Based on performance metrics, the system's control problem is transformed into a zero-sum game problem.

6. The high-performance aircraft mechanism modeling and game-theoretic robust control method according to claim 5, characterized in that, Solving the game model to obtain the control strategy includes: Based on the zero-sum game problem between disturbance and control, the Hamiltonian function is constructed as follows: Obtain the game strategy: Based on the extreme value constraints, the optimal control and disturbance quantities are obtained by solving: in, State error weights; Expand the state vector; Control input vector; Control input weights; Disturbance attenuation level; External disturbance vector; State matrix; Input matrix; Perturbation input matrix; Optimal control vector; Worst-case perturbation vector; The solution to the riccati equation.

7. A high-performance aircraft mechanism modeling and game-theoretic robust control system, characterized in that, include: The aircraft model building module is used to build high-performance mechanism models based on the force factors of high-performance aircraft. The disturbance model building module is used to acquire disturbance factors of high-performance aircraft during flight and build a disturbance model based on the disturbance factors. The disturbance estimation module is used to construct a modelable disturbance observer based on the disturbance model, and to estimate the disturbance model based on the modelable disturbance observer to obtain the disturbance estimate; The solver module is used to construct an extended model of the high-performance mechanism model based on the high-performance mechanism model, the disturbance model, and the disturbance estimation. It defines the performance index for the optimization of the extended model, constructs a game model between high-performance aircraft control and disturbance based on the performance index and the extended model, solves the game model, and obtains the control strategy.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-6.

9. A terminal 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 steps of the method as described in any one of claims 1-6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-6.

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