›› 2012, Vol. 32 ›› Issue (4): 29-36.doi: 10.3780/j.issn.1000-758X.2012.04.005

• 研究探讨 • 上一篇    下一篇

自主飞艇姿态跟踪的终端滑模控制

 杨跃能, 吴杰, 郑伟   

  1. (国防科学技术大学航天与材料工程学院, 长沙 410073)
  • 收稿日期:2011-09-13 修回日期:2011-12-05 出版日期:2012-08-25 发布日期:2012-08-25
  • 作者简介:杨跃能 1984年生,2008年获国防科学技术大学防灾减灾工程及防护工程专业硕士学位,现为国防科学技术大学飞行器设计专业博士研究生。研究方向为飞行动力学与控制。
  • 基金资助:

    湖南省优秀研究生创新(CX2011B005),国防科技大学优秀研究生创新(B110105)资助项目

Terminal Sliding Mode Control for Attitude Tracking of an Autonomous Airship

Yang Yueneng,Wu Jie,Zheng Wei   

  1. (College of Aerospace and Materials Engineering, National University of Defense Technology,Changsha 410073
  • Received:2011-09-13 Revised:2011-12-05 Online:2012-08-25 Published:2012-08-25

摘要: 针对自主飞艇姿态运动的非线性、耦合和不确定等特点,研究了一种终端滑模姿态控制方法。首先推导了飞艇姿态运动的数学模型,通过选取状态向量和控制向量,将其描述为非线性控制系统。然后基于微分几何理论将非线性姿态控制系统输入输出线性化为3个通道的线性子系统,利用滑模控制对模型不确定和外界扰动的不变性设计了姿态控制律,通过选取终端滑模函数使得姿态跟踪误差在有限时间内收敛至零,并应用Lyapunov理论证明了闭环系统的稳定性。最后对具有模型不确定的姿态控制系统进行了数值仿真,验证了控制方法的有效性和鲁棒性。

关键词: 姿态控制, 反馈线性化, 终端滑模, 飞艇

Abstract: The attitude control system of an autonomous airship is a multi-input multi-output, nonlinear, coupled and uncertain system. A new control scheme based on feedback linearization and terminal sliding mode for attitude tracking control was proposed. Firstly, the mathematical model of the attitude motion of an airship was derived in form of a nonlinear system. Secondly, the nonlinear attitude control system was decoupled into three single-input single-output linear systems based on the differential geometry theory. The attitude tracking control system was designed by using the terminal sliding mode control method, and the stability of the closed loop system was proven by using the Lyapunov theorem. Finally, simulation results demonstrate that the control system tracks the commanded attitude angles precisely despite of model uncertainties, which verifies the effectiveness and robustness of the proposed control scheme.

Key words: Attitude control, Feedback linearization, Terminal sliding mode, Airship