不确定非线性系统自适应滑模跟踪控制及应用  

Adaptive sliding mode trajectory tracking control and its application in uncertain nonlinear systems

作　　者：苏磊[1] 姚宏[2] 杜军[1] 

机构地区：[1]空军工程大学航空航天工程学院,陕西西安710038 [2]空军工程大学理学院,陕西西安710051

出　　处：《系统工程与电子技术》2014年第4期740-745,共6页Systems Engineering and Electronics

基　　金：航空科学基金(20111396011);陕西省自然科学基金(2012JM8035)资助课题

摘　　要：针对一类非匹配不确定非线性系统,设计了一种高阶鲁棒自适应反推滑模变结构控制方法。在控制器设计中,考虑存在系统建模误差和外界未知干扰,借鉴动态面思想降低控制器复杂性,引入双曲正切函数和抖振衰减因子降低控制输入抖振,设计系统建模误差自适应律增强控制器鲁棒性,并将系统的稳定性证明简化为判断一个n阶对称矩阵的正定性问题。将设计的反推滑模控制器用于F-8飞机纵向机动控制并进行仿真,实现了飞机对指定轨迹的稳定跟踪。A. robust adaptive hackstepping sliding mode control （SMC） method is proposed for matched uncertain nonlinear systems. In the procedure of controller design, model uncertainty and ternal disturbances are considered. In order to simplify the controller, dynamic surface strategy is ing the backstepping. The chattering of control signals is effectively suppressed by the employment bolic tangent function and attenuation factor. An adaptive law is designed to strengthen the system a class of un- unknown ex- adopted dur- of the hyper- robustness for modelling error. The stability of the system is ascribed to the design of an n order positive symmetrical matrix. The proposed control method is applied to the F 8 aircraft longitudinal dynamical model. The simulation results demonstrate that the proposed method can be effectively applied to the control of aircraft trajectory tracking.

关 键 词：不确定非线性系统 滑模控制 飞行器纵向机动 轨迹跟踪 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V249[自动化与计算机技术—控制科学与工程]