光电平台伺服系统自抗扰滑模控制

提出一种基于参考模型的自抗扰滑模控制器,它包括一个自抗扰控制器和一个全局滑模控制器.根据参考模型,利用跟踪微分器设计自抗扰控制器,控制参考模型的输出精确跟踪指令输入信号.全局滑模控制器控制伺服系统被控对象的输出高精度跟踪参考模型的输出.光电平台伺服系统的实验结果证明该新型控制器能有效补偿系统的参数不确定性和非线性扰动,提高了伺服系统的跟踪精度.系统具有全局鲁棒性.

An Active Disturbance Rejection and Sliding Mode Control of an Opto-electronic Platform Servo System

An active disturbance rejection and sliding mode controller based on a reference model is studied. It comprises an active disturbance rejection controller and a global sliding mode controller. The active disturbance rejection controller with a tracking differentiator is designed according to the reference model, which regulates the reference model output to track the command input signals accurately. The global sliding mode controller regulates the controlled plant output of a servo system to track the reference model output in high precision. Experiments results of the opto-electronic platform servo system demonstrate that the new controller could compensate the parameters’ uncertainty and the nonlinear disturbance and increase the tracking precision of the servo system. The system is globally robust.