摘要
针对扰动对稳定平台跟踪精度的影响,提出了一种新型复合滑模控制算法。首先,针对等效干扰,使用鲁棒H∞混合灵敏度控制设计鲁棒干扰观测器(RDOB),有效地优化了干扰观测器的滤波器,对等效干扰实现了快速精确的估计与补偿,改善了系统的抗干扰能力;其次,为了提高系统的跟踪精度,结合有限时间理论,设计了新型的滑模控制器(NSMC),Lyapunov函数证明了系统在有限时间内收敛。仿真结果证明了控制策略的有效性。
To remove the influence of disturbances on the tracking accuracy of the stable platforma new composite Sliding Mode Control(SMC)algorithm is proposed.Firstlyrobust H∞mixed sensitivity control is used to design a Robust Disturbance Observer(RDOB)and effectively optimize its filterso as to estimate and compensate for equivalent disturbances rapidly and accurately and improve the disturbance rejection ability of the system.Secondlyin order to improve the tracking accuracy of the systemthe finite time theory is used to design a New Sliding Mode Controller(NSMC)and the convergence of the system in a finite time is proved by using the Lyapunov function.The simulation results have proved the effectiveness of the control strategy.
作者
任彦
苏楠
王义敏
解东
牛志强
REN Yan;SU Nan;WANG Yimin;XIE Dong;NIU Zhiqiang(Inner Mongolia University of Science and Technology Baotou 014000,China;Dalian Maritime University Dalian 116000,China;Inner Mongolia North Heavy Industry Group Co. Ltd. Baotou 014000,China)
出处
《电光与控制》
CSCD
北大核心
2021年第6期76-80,共5页
Electronics Optics & Control
基金
国家自然科学基金(62063027)
内蒙古自然科学基金(2019 MS06002)
内蒙古自治区科技计划(2020G0048)。
