一类多执行机构系的滑模控制设计及其应用

Sliding modes control design for a class of systems with multiple actuators and its applications

中文关键词  输出跟踪  多执行机构  滑模控制  backstepping技术

英文关键词  output tracking  multiple actuators  sliding mode control  backstepping technique

中文摘要

      针对一类具有多执行机构的非线性系统, 利用滑模控制和backstepping技术, 研究了输出跟踪问题. 针对执行机构的不同特点, 利用离散执行机构实现滑模控制中的不连续控制量, 利用连续执行机构实现滑模控制中的连续控制量. 然后利用backstepping技术实现连续执行机构的输出对滑模控制中的连续控制量的有限时间收敛. 将提出的设计方法应用于导弹直接侧向力与气动力复合控制系统设计,并进行了仿真验证.

英文摘要

      For a class of nonlinear systems with multiple actuators, the output tracking problem is investigated by applying the sliding mode control and the backstepping technique. Based on individual characteristics of different actuators, the discontinuous control in the sliding mode control is implemented via discrete actuator, while the continuous control in the sliding mode control is implemented via continuous actuator. Then, the backstepping technique is applied to ensure that the output of the continuous actuator will converge to the continuous control in the sliding mode control through a finite period of time. The proposed method is applied to the design of a compound control system for missiles with aerodynamically controlled surfaces and lateral jets. Simulations of this compound system have been conducted.