基于滑模观测信息的电动舵机自适应终端滑模控制  

Adaptive Terminal Sliding Mode Control of Electromechanical Actuator based on Sliding Mode Observer

作　　者：李浩[1] 梁婕[1] 王尚 梁海波[1] 王瑞 Li Hao;Liang Jie;Wang Shang;Liang Hai-bo;Wang Rui(Beijing Aerospace Automatic Control Institute,Beijing,100854)

机构地区：[1]北京航天自动控制研究所,北京100854

出　　处：《导弹与航天运载技术》2021年第6期27-31,共5页Missiles and Space Vehicles

摘　　要：针对电动舵机控制中参数和负载的不确定性,设计自适应终端滑模控制器,利用滑模观测信息构造自适应律,对不确定参数进行估计,具有与复合自适应律相似的参数估计特性,但不需要系统状态的导数,理论上证明了系统的稳定性和输出误差的有限时间收敛。最后通过仿真证明了该方法的有效性。The adaptive terminal sliding mode control approach for electromechanical actuator with parameter uncertainty based on sliding mode observer is researched.The adaptive law with the information of sliding mode observer,which provides the similar ability of compositive adaptive law is designed,while the derivative of the system state is not needed.The close-loop stability of the system and the finite-time convergence of the trajectory tracking error have been proved.Finally the effectiveness of the proposed method is valued by simulation.

关 键 词：电动舵机 自适应终端滑模控制 滑模观测 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]