并联式运载器上升段广义超螺旋有限时间控制  

Generalized super-twisting finite-time control for the ascent phase of parallel carrier

作　　者：罗世彬 李晓栋 王忠森 徐骋 LUO Shibin;LI Xiaodong;WANG Zhongsen;XU Cheng(School of Aeronautics and Astronautics, Central South University, Changsha 410083 China;Key Laboratory of Complex System Control and Intelligent Collaboration Technology, Beijing 100074, China)

机构地区：[1]中南大学航空航天学院,湖南长沙410083 [2]复杂系统控制与智能协同技术重点实验室,北京100074

出　　处：《系统工程与电子技术》2022年第5期1626-1635,共10页Systems Engineering and Electronics

摘　　要：针对受模型不确定和外部干扰影响的并联式运载器上升段姿态控制问题,提出了一种基于广义超螺旋算法的自适应滑模有限时间控制方法。首先,将姿态跟踪控制问题转化为跟踪误差系统的镇定问题,建立了面向控制的模型。其次,将单输入单输出(single input single output,SISO)固定时间广义超螺旋算法拓展应用到多输入多输出(multiple input multiple output,MIMO)耦合非线性系统上,基于该算法设计了固定时间状态观测器和自适应滑模有限时间控制器,利用Lyapunov稳定性理论证明了闭环系统的有限时间稳定特性。最后,通过与传统比例微分(proportional and differential,PD)控制器仿真对比,验证了该方法具有更优的控制精度和鲁棒性。An adaptive sliding mode finite-time control method based on the generalized super-twisting algorithm is proposed to solve the attitude control problem of parallel carrier in the ascent phase affected by model uncertainty and external disturbance.Firstly,the attitude tracking control problem is transformed into the stabilization problem of tracking error system,and the control-oriented control model is established.Secondly,the single input single output(SISO)fixed-time generalized super-twisting algorithm is extended to multiple input multiple output(MIMO)coupled nonlinear systems.Based on the algorithm,a fixed-time state observer and an adaptive sliding mode finite-time controller are designed.The finite-time stability of the closed-loop system is proved based on the Lyapunov stability theory.Finally,compared with the traditional proportional and differential(PD)controller,the simulation results show that the proposed method has better control accuracy and robustness.

关 键 词：运载器 自适应滑模控制 有限时间控制 广义超螺旋算法 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]