全局自适应模糊反步控制在火箭炮伺服系统中的应用

针对含未知非线性参量及外界干扰的火箭炮伺服系统，基于反步法提出了一种全局自适应模糊控制策略。利用高斯模糊函数对参数摄动、负载扰动及虚拟函数等不确定因素进行了补偿，并结合工况对控制器参数进行了实时整定。根据伺服系统数学模型及传统反步理论逆向反推得到了控制律表达式，通过李雅普诺夫函数证明了整个闭环系统的稳定性，并对参数摄动及干扰下的位置跟踪进行了仿真研究，同时给出了复杂信号下虚拟控制函数的变化规律。仿真结果表明，该方法不仅保证了系统的响应速度和控制精度，并且对结构参数不确定性具有很强的鲁棒性。

Application of Global Adaptive Fuzzy Backstepping Control in Rocket Launcher Servo System

A global adaptive fuzzy control method was proposed on the basis of backstepping approach for rocket launcher servo system with unknown nonlinear terms and external disturbances.A Gaussian fuzzy function was applied to compensate some uncertainty factors,such as parameter variation,load disturbances and virtual function.And,the controller parameters were tuned in real-time mode according to the operation conditions.The control law was derived iteratively according to the servo system’s mathematical model and conventional backstepping theory.Then,the controller’s stability was verified by using Lyapunov function.The simulation study on the position tracking under parameters variation and disturbance was carried out,and the change law of the virtual control function was given under complex signal.The simulation results show that the proposed approach can guarantee the response speed and control accuracy and has a strong robustness for the structure parameter uncertainties.