一种基于反步法的鲁棒自适应终端滑模控制

A robust and adaptive terminal sliding mode control based on backstepping

中文关键词  鲁棒自适应控制  反步法  终端滑模  模糊系统  机动飞行

英文关键词  robust and adaptive control  backstepping  terminal sliding mode  fuzzy logic system  maneuver flight

中文摘要

      针对不确定严格反馈块控非线性系统, 提出了一种基于反步法的鲁棒自适应终端滑模变结构控制方法. 系统的未知不确定及外界干扰由模糊系统在线逼近, 利用反步法设计了变结构控制的终端滑模面, 并由此得到了鲁棒自适应终端滑模控制器, 使系统的跟踪误差在有限时间内趋于给定轨迹的任意小的邻域内. 通过Lyapunov定理证明了闭环系统所有信号最终有界. 对某战斗机6自由度机动仿真结果表明, 该方法具有强鲁棒性.

英文摘要

      A robust and adaptive terminal sliding mode control based on backstepping is presented for a general class of strict-block-feedback systems with uncertainties. Fuzzy logic systems are employed to compensate for the unknown uncertainties in the system. Adaptive backstepping method is then used to design the terminal sliding surface. A robust and adaptive variable-structure controller is thus obtained. The tracking error is driven onto the sliding surface and converges to an arbitrary small neighborhood of the desired trajectory in finite-time. Using the Lyapunov approach, we prove that all signals in the closed loop system are ultimately bounded. Finally, the simulation results of the nonlinear six-degree-offreedom maneuver flight of a fighter plane demonstrate that the proposed approach has strong robust performance.