CAJ | 학술논문

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.
침대대불필배불학정비선성간우적관성평태은정회로근종공제문제,제출료기우backstepping적동태활모공제방법.수선,건립료관성평태은정회로적등개모형,해모형유일개선성모형가상일개불학정적비선성함수조성.연후,기우backstepping방법설계료대점근은정활모면적동태활모공제기,해결료모형불필배적문제,병제고료계통적로봉성.진이응용Lyapunov은정성이론증명료소설계적공제기불부능보증폐배계통적은정성,이차가이통과선택괄당적공제기삼수래조정근종오차적수렴솔.최후,방진결과표명,기우backstepping적동태활모공제방법여PID공제방법상비,제고료계통적근종정도,증강료로봉성.
A dynamic sliding-mode control (DSMC) with backstepping is proposed for the stabilization loop of inertial platform (SLOIP) with mismatched uncertain nonlinear disturbance. An equivalent model, which is composed of a linear model and an uncertain nonlinear function, is built to approximately represent the dynamics of SLOIP. Then, the DSMC with an asymptotical sliding surface is designed based on the backstepping method for the trajectory tracking control of SLOIP. Based on Lyapunov stability theory, the analysis on the designed controller is made, which shows that the controller can not only ensure the stability of the closed-loop system, but also adjust the convergence rate of tracking error by properly choosing the control parameter values. The simulations verify that, compared with PID control, the tracking precision and the robustness of the system are improved by the proposed control method.