多源扰动下光电跟踪系统连续非奇异终端滑模控制

发布时间：2018-02-28 17:25

本文关键词： 有限时间扰动观测器连续非奇异终端滑模幂次趋近律光电跟踪系统　出处：《控制理论与应用》2017年04期 　论文类型：期刊论文

【摘要】：针对多源扰动下的光电跟踪系统,提出一种基于有限时间扰动观测器的连续非奇异终端滑模控制方法.首先,通过扰动观测器在有限时间内估计出集总扰动并用于快速幂次趋近律的设计,利用非奇异快速终端滑模面和等效控制方法,得出连续有限时间控制律.采用Lyapunov稳定性方法进行了严格的有限时间收敛证明.其次,对2 DOF光电跟踪系统进行建模,分析影响控制精度的多源干扰因素,并进行控制律设计.最后,结合实际工作环境进行仿真与实验研究,论证算法的有效性.结果表明,提出的控制方法可使得系统输出即使在多源扰动存在情况下,也可在有限时间内快速收敛到平衡点,提高了光电跟踪系统的抗干扰能力与稳态控制精度.
[Abstract]:A continuous nonsingular terminal sliding mode control method based on finite time disturbance observer is proposed for optoelectronic tracking system with multi-source perturbations. By using the perturbation observer to estimate the lumped perturbation in finite time and to design the fast power approach law, the nonsingular fast terminal sliding mode surface and the equivalent control method are used. The continuous finite time control law is obtained. The Lyapunov stability method is used to prove the strict finite time convergence. Secondly, the DOF optoelectronic tracking system is modeled, and the multi-source interference factors affecting the control accuracy are analyzed. The control law is designed. Finally, the effectiveness of the algorithm is demonstrated by simulation and experimental research in the actual working environment. The results show that the proposed control method can make the system output even in the presence of multi-source disturbances. It can also rapidly converge to the equilibrium point in a limited time, which improves the anti-interference ability and the steady-state control accuracy of the photoelectric tracking system.
【作者单位】：东南大学自动化学院;复杂工程系统测量与控制教育部重点实验室;南通大学电气工程学院;
【基金】：国家国际科技合作专项(2015DFA10490) 国家自然科学基金项目(51307089) 中央高校基本科研业务费专项资金江苏省普通高校研究生科研创新计划项目(KYLX15 0213)资助~~
【分类号】：TP273;V24

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