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针对自主飞艇姿态运动的非线性、耦合和不确定等特点,研究了一种终端滑模姿态控制方法。首先推导了飞艇姿态运动的数学模型,通过选取状态向量和控制向量,将其描述为非线性控制系统。然后基于微分几何理论将非线性姿态控制系统输入输出线性化为3个通道的线性子系统,利用滑模控制对模型不确定和外界扰动的不变性设计了姿态控制律,通过选取终端滑模函数使得姿态跟踪误差在有限时间内收敛至零,并应用Lyapunov理论证明了闭环系统的稳定性。最后对具有模型不确定的姿态控制系统进行了数值仿真,验证了控制方法的有效性和鲁棒性。
Aiming at the non-linear, coupled and indeterminate attitude of autonomous airships, a terminal sliding mode attitude control method is studied. Firstly, the mathematical model of the airship attitude movement is deduced. By selecting the state vector and control vector, it is described as a nonlinear control system. Then based on the differential geometry theory, the input and output of nonlinear attitude control system are linearized into 3-channel linear subsystems, and the attitude control law is designed by using the sliding mode control to the model uncertainty and the invariance of disturbance. By selecting the terminal sliding mode function The attitude tracking error converges to zero within a finite time, and the stability of the closed-loop system is proved by Lyapunov theory. Finally, the numerical simulation of attitude control system with model uncertainty is carried out to verify the effectiveness and robustness of the control method.