CAJ | 학술논문

针对非线性系统存在建模误差和外界干扰等不确定因素问题，提出一种基于滑模干扰观测器在线补偿的非线性动态逆控制方法。通过设计滑模干扰观测器，对不确定因素进行估计，将滑模干扰观测器的输出用以设计新的补偿控制律，与动态逆方法相结合来消除不确定因素的影响。以Herbst机动过程为例进行飞行仿真，并与单纯采用非线性动态逆方法的控制性能进行对比。仿真表明，系统能较好地跟踪姿态角指令，有良好的鲁棒性。
침대비선성계통존재건모오차화외계간우등불학정인소문제，제출일충기우활모간우관측기재선보상적비선성동태역공제방법。통과설계활모간우관측기，대불학정인소진행고계，장활모간우관측기적수출용이설계신적보상공제률，여동태역방법상결합래소제불학정인소적영향。이Herbst궤동과정위례진행비행방진，병여단순채용비선성동태역방법적공제성능진행대비。방진표명，계통능교호지근종자태각지령，유량호적로봉성。
Considering the uncertain factors as modeling errors and external disturbances existed in nonlinear systems,a Nonlinear Dynamic Inversion ( NDI ) control method was proposed based on Sliding Mode Disturbance Observer ( SMDO ) on-line compensation.The SMDO was designed for estimating the uncertain factors,and the output of it was used to design a new compensating control law,which was used together with NDI control for eliminating the influence of the uncertain factors.The simulation experiment based on Herbst maneuver is given to show the difference between the simplex NDI control and the proposed method.The simulation results show the effectiveness and robustness of the proposed method.