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针对带不匹配不确定非线性干扰的惯性平台稳定回路跟踪控制问题,提出了基于backstepping的动态滑模控制方法。首先,建立了惯性平台稳定回路的等价模型,该模型由一个线性模型加上一个不确定的非线性函数组成。然后,基于backstepping方法设计了带渐近稳定滑模面的动态滑模控制器,解决了模型不匹配的问题,并提高了系统的鲁棒性。进而应用Lyapunov稳定性理论证明了所设计的控制器不仅能保证闭环系统的稳定性,而且可以通过选择适当的控制器参数来调整跟踪误差的收敛率。最后,仿真结果表明,基于backstepping的动态滑模控制方法与PID控制方法相比,提高了系统的跟踪精度,增强了鲁棒性。
In order to solve the tracking control problem of inertial platform with non-matching and uncertain nonlinear disturbance, a dynamic sliding mode control method based on backstepping is proposed. First of all, an equivalent model of an inertial platform stabilized loop is established. The model consists of a linear model plus an uncertain nonlinear function. Then, based on the backstepping method, a dynamic sliding mode controller with asymptotically stable sliding surface is designed to solve the problem of model mismatch and improve the robustness of the system. Furthermore, the Lyapunov stability theory is applied to prove that the designed controller can not only ensure the stability of the closed-loop system, but also can adjust the tracking error convergence rate by selecting the appropriate controller parameters. Finally, the simulation results show that the dynamic sliding mode control method based on backstepping improves the tracking accuracy and enhances the robustness compared with the PID control method.