摘要
针对存在多种扰动源的光电跟踪系统,提出有限时间自适应滑模复合控制(finite time adaptive sliding mode compound control,FTASMC)策略。首先,将各类扰动看做等效干扰,设计基于super-twisting的高阶滑模干扰补偿器对其进行快速的估计补偿;其次,为提高控制精度,提出一种新的双幂次自适应滑模控制(double power adaptive sliding mode controller,DASMC)策略,在控制器设计过程中,采用双幂次理论结合终端滑模控制理论设计一种新型滑模面,并通过设计一种新型自适应快速滑模趋近律,得到能够保证系统在有限时间内全局快速收敛的控制率。最后,使用Lyapunov理论及实验仿真证明所提出的控制策略有效。
Aiming at the influence of external disturbance and friction disturbance on the tracking accuracy of photoelectric tracking system,a finite time adaptive sliding mode compound control(FTASMC)strategy is proposed.Firstly,for all kinds of disturbances,a high-order sliding mode disturbance observer is designed based on super twisting to quickly estimate the disturbance of the compensation system.Secondly,in order to improve the control accuracy,a new double power adaptive sliding mode controller(DASMC)strategy is proposed.In the process of controller design,a new sliding mode surface is designed by using double power theory and terminal sliding mode control theory.And a new adaptive fast sliding mode reaching law is designed,a control rate that can ensure the global fast convergence of the system in finite time is obtained.Finally,Lyapunov theory is used to prove that the proposed control strategy can make the system achieve error convergence in finite time.Simulation results show the effectiveness of the proposed control method.
作者
董丽荣
任彦
王义敏
DONG Lirong;REN Yan;WANG Yimin(Baotou Vocational&Technical College,Baotou 014010,China;School of Information Engineering,Inner Mongolia University of Science and Technology,Baotou 014010,China)
出处
《中国测试》
CAS
北大核心
2023年第10期71-76,共6页
China Measurement & Test
基金
国家自然科学基金(62063027)
内蒙古自然科学基金(2019MS06002)。
