Abstract
In this paper, a robust model predictive controller based on sum of squares (SOS-RMPC) is proposed to realize the trajectory tracking control of hypersonic vehicle with actuator fault. Firstly, the polytopic feedback linearization error model of hypersonic vehicle with actuator fault is derived. The integration of altitude and velocity are introduced to eliminate the steady state error. The lose efficiency fault of actuator is separated from control input and the additional bounded disturbance term is formed. Secondly, the real input constraint is converted to virtual state-dependent input constraint in polynomial. Finally, a composite control law with and without virtual state-dependent constraint is proposed, and the SOS-RMPC fault-tolerant controller is designed. By SOS technology, the virtual state-dependent input constraint in polynomial is transformed into convex optimization problem of linear matrix inequality (LMI). The norm-bounded theory is applied to suppress the disturbance. The simulations show that the designed controller can realize trajectory tracking control of hypersonic vehicle with actuator fault.
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