| 3D刚体摆姿态稳定性的自适应滑模控制 |
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| 引用本文： | 边珺,戈新生.3D刚体摆姿态稳定性的自适应滑模控制[J].北京机械工业学院学报,2014(3):33-37. |
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| 作者姓名： | 边珺 戈新生 |
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| 作者单位： | 北京信息科技大学自动化学院;北京信息科技大学机电工程学院; |
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| 基金项目： | 国家自然科学基金项目(11072038);北京市自然科学基金重点项目B类(KZ201110772039) |
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| 摘 要： | 针对3D刚体摆的倒立平衡位置处的姿态稳定性问题,考虑系统的惯量不确定性,根据3D刚体摆的约化姿态模型建立滑模面,设计相应滑模控制器,并引入自适应滑模控制,用于处理参数模型不确定的情况。李雅普诺夫稳定性分析表明提出的自适应滑模控制律能够确保3D刚体摆姿态控制系统渐近稳定。仿真实验验证了方法的有效性。
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| 关 键 词： | 3D刚体摆 姿态控制 自适应控制 滑模控制 |
Adaptive sliding mode control of 3D rigid pendulum postural stability |
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| Affiliation: | BIAN Jun , GE Xin-sheng ( 1. School of Automation, Beijing Information Science and Technology University, Beijing 100192, China; 2. School of Electromechanical Engineering, Beijing Information Science and Technology University, Beijing 100192, China) |
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| Abstract: | To solve the posture stability problem at the inverted equilibrium position of 3D rigid pendulum, considering the uncertainty of the inertia of the system, the sliding surface is established based on the approximately pose model of 3D rigid pendulum, and the corresponding sliding mode controller is designed. The adaptive sliding mode control is introduced to deal with the uncertainty of parameter model. Lyapunov stability analysis shows that proposed adaptive sliding mode control law ensures asymptotical stablility of 3D rigid pendulum attitude control system. Simulation results demonstrate the effectiveness and feasibility of the method. |
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| Keywords: | 3 D rigid pendulum attitude control adaptive control sliding mode control |
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