论文标题
自适应快速平滑的二阶滑动模式控制3多型直升机的态度跟踪
Adaptive Fast Smooth Second-Order Sliding Mode Control for Attitude Tracking of a 3-DOF Helicopter
论文作者
论文摘要
本文介绍了一种新型的自适应快速平滑二阶滑动模式控制，用于跟踪三个自由度（3-DOF）直升机系统，并具有集体干扰。与非单明的积分滑动模式表面相结合，我们提出了一种新型的自适应快速平滑的二阶滑动模式控制方法，以使抬高和俯仰角分别跟踪给定的所需轨迹，并具有非单词性的特征，对干扰，聊天式抑制和快速有限的时间融合的适应性。此外，提出了一种新型的自适应增益平滑的二阶滑动模式观察者，以补偿与自适应增强二阶滑动模式观察者相比，与更平滑的输出相比，随着时间变化的总干扰。闭环系统具有恒定干扰的快速有限时间收敛，并且通过有限的Lyapunov稳定性理论证明了闭环系统最终均匀限制的闭环系统。最后，通过比较模拟实验验证了所提出的控制方法的有效性和优势。
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding mode surface, we propose a novel adaptive fast smooth second-order sliding mode control method to enable elevation and pitch angles to track given desired trajectories respectively with the features of non-singularity, adaptation to disturbances, chattering suppression and fast finite-time convergence. In addition, a novel adaptive-gain smooth second-order sliding mode observer is proposed to compensate time-varying lumped disturbances with the smoother output compared with the adaptive-gain second-order sliding mode observer. The fast finite-time convergence of the closed-loop system with constant disturbances and the fast finite-time uniformly ultimately boundedness of the closed-loop system with the time-varying lumped disturbances are proved with the finite-time Lyapunov stability theory. Finally, the effectiveness and superiority of the proposed control methods are verified by comparative simulation experiments.
