高阶终端滑模控制在稳定平台中的应用

针对稳定平台伺服系统中干扰对跟踪精度的影响,提出一种高阶终端滑模控制算法.首先,提出一种基于super-twisting算法的高阶滑模干扰观测器的设计方法,实现对系统中干扰的快速估计与实时补偿.其次,提出一种基于Lyapunov函数的高阶终端滑模控制器,由到达条件推导而得,高阶终端滑模控制将不连续的切换项作用于变量的高...

Application of High-order Terminal Sliding Mode Control in Stable Platform

Aiming at the influence of interference on tracking accuracy in stable platform servo system, a high-order terminal sliding mode control algorithm is proposed. Firstly, a design method of high-order sliding mode interference observer based on super-twisting algorithm is proposed to realize fast estimation and real-time compensation of interference in the system. Secondly, a high-order terminal sliding mode controller based on Lyapunov function is proposed, which is derived from the arrival condition. The high-order terminal sliding mode control applies discontinuous switching terms to the high-order differential of the variable, so that the system maintains the strong robustness of sliding mode control and the chattering in sliding mode control can be attenuated to a large extent, and fine compensation for unestimated interference can be achieved. The stability of the system is proved by Lyapunov stability theory. The simulation results show the effectivnesss of the control strategy.