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针对存在建模误差和外界干扰等不确定因素的飞行姿态系统,使用单向辅助面滑模控制与非线性干扰观测器(NDO)相结合的方法设计控制器。采用单向辅助面滑模控制方法设计标称系统控制器,而对于系统中的不确定性和扰动则利用NDO进行逼近,并将NDO的输出用于设计鲁棒补偿控制项,所设计的控制器可以有效削弱抖振且能够显著提高收敛速度。最后通过Lyapunov理论证明了闭环系统的稳定性,仿真结果也体现了良好的控制效果。
Aiming at the flight attitude system with uncertainties such as modeling errors and external disturbances, the controller is designed by using one-way assistant-surface sliding mode control and nonlinear disturbance observer (NDO). The nominal system controller is designed by using the one-way auxiliary surface sliding mode control method, while the uncertainty and perturbation in the system are approximated by NDO and the output of NDO is used to design robust compensation control. The designed control It can effectively weaken the chattering and can significantly improve the convergence speed. Finally, the stability of the closed-loop system is proved by Lyapunov theory. The simulation results also show the good control effect.