电光与控制, 2019, 26(5): 1, 网络出版: 2019-05-01

重装空投过程的有限时间收敛自适应滑模控制

Finite-Time Convergent Adaptive Sliding Mode Control for Heavyweight Airdrop
作者单位

1空军哈尔滨飞行学院理论训练系, 哈尔滨 150000

2空军工程大学航空工程学院, 西安 710038

摘要
针对带有不确定性且不确定性边界未知的重装空投过程飞机运动系统, 提出了一种有限时间收敛增益自适应滑模控制律。该控制律由标称控制和补偿控制两部分构成, 前者用于获得有限时间的收敛性能, 后者用于克服不确定性, 提高系统鲁棒性。采用自适应方法在线近似补偿控制器的增益, 解决了控制增益选取依赖于不确定性边界的问题, 并有效抑制了滑模控制的抖振现象。理论分析表明, 该方法能够保证飞机速度和俯仰角的跟踪误差有限时间收敛。仿真验证了控制方法的有效性和优越性。
Abstract
Considering the bounded uncertainties without the prior knowledge of the bounds in heavyweight airdrop operations, an adaptive sliding mode control law with finite-time convergent performance is proposed.This control law is composed of two parts of nominal control law and compensated control law, the former is used to achieve finite-time stabilization performance, and the latter is used to reject the uncertainties and improve the robustness.The switching gains of the compensated control law are compensated using adaptive algorithms, and the knowledge of the bounds of the uncertainties is not required to be known in advance.Meanwhile, the severe chattering of the sliding mode control that caused by high switching gains is effectively reduced.Theoretical analysis indicates that the proposed method can ensure finite-time convergent performance of the tracking error of air speed and pitch angle.Simulation results prove the effectiveness and superiority of the control method.
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