基于模糊干扰观测器的自适应反演滑模控制研究  

Research of Adaptive Backstepping Sliding Mode Controller Based on Fuzzy Disturbance Observer

作　　者：刘柏廷[1,2] 吴云洁[1,2] 黄延福[1,2] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191 [2]北京航空航天大学控制一体化技术国家级科技重点实验室,北京100191

出　　处：《系统仿真学报》2011年第8期1677-1680,共4页Journal of System Simulation

基　　金：教育部新世纪优秀人才支持计划项目(NCET-07-0044)

摘　　要：摩擦等外界干扰,系统不确定性信息及参数变化对飞行仿真转台的运行造成不利影响。针对该问题,提出基于模糊干扰观测器(Fdo)的自适应反演滑模控制方案(ABSMC),在对外界干扰和不确定信息进行补偿的基础上,从稳定性出发,对不确定上界进行自适应估计,并逐步反推出控制器。通过对某型仿真转台进行仿真,得知该方案与普通滑模控制(SMC)方案相比,具有更高的跟踪精度,并极大的提高了对外界干扰,系统不确定信息和参数变化的鲁棒性。Friction and other external disturbances,uncertainty model information and parameter variation are negative to the flight simulator system.In order to solve this problem,an Adaptive Backstepping Sliding Mode Controller（ABSMC） based on Fuzzy disturbance observer（Fdo） was proposed.On the basis of the compensation for the external disturbance and uncertainty information,starting from the stability,the controller was obtained gradually by the adaptive estimation to the uncertainty upper bound.With the simulation of one flight simulator,it can be seen that the proposed control scheme can obtain better tracking performance and more robustness against external disturbances,uncertainty model information and parameter variation to the simple Sliding Mode Controller（SMC）.

关 键 词：模糊干扰观测器 反演滑模控制 自适应 飞行仿真转台 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]