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针对交会对接模拟系统的姿态同步问题,在存在扰动和系统不确定性的情况下,利用改进的快速非奇异终端滑模面和改进的自适应律设计两个有限时间抗干扰控制器.改进的自适应律保证了两个控制器的连续性和对干扰的鲁棒性,且第2个控制器能解决边界层理论存在的边界层内有限时间稳定性丢失的问题.李雅普诺夫理论推导和仿真结果表明,提出的两个控制器能保证系统的有限时间稳定性,系统能快速收敛到平衡点.
In order to solve the problem of attitude synchronization in rendezvous and docking simulation system, two finite-time anti-jamming controllers are designed with improved fast non-singular terminal sliding mode and improved adaptive law in the presence of perturbations and system uncertainties. The adaptive law guarantees the continuity of the two controllers and the robustness against interference, and the second controller solves the problem of the loss of finite-time stability in the boundary layer existing in the theory of boundary layer. The simulation results show that the proposed two controllers can guarantee the limited time stability of the system and the system can quickly converge to the equilibrium point.