摘要
针对一类具有不匹配不确定的单输入单输出非线性系统,运用反馈线性化理论改变系统状态向量将其线性化,并提出一种基于反步滑模的控制算法。根据反步递推设计的思想,在每步中采用了鲁棒的变结构控制来使虚拟系统稳定,无需在反步设计中采用自适应调节参数,减小了系统计算量,同时采用饱和函数解决了滑模控制的抖动问题。将其应用于船舶航向控制系统,通过对考虑喷水推进船舶喷口特性的航向控制系统的仿真应用,表明控制器对不匹配的模型摄动及海浪干扰变化不敏感、设计参数易于调节,系统能够实现对船舶航向的稳定控制。
A sliding mode control based on the backstepping is proposed,which uses the feedback linearization theory to linearize the system state vectors and solve the problem of unmatched uncertain nonlinear SISO system.According to backstepping recursive design,the controller makes the virtual system stable by using the robust variable structure control every step.It unnecessary to make adaptive adjustment of the parameters during the Backstepping design,which reduces the amount of computation.The chattering problem is solved by using the saturation the sliding mode control function.Through the application and simulation of the ship course control system with waterjet propulsion,it is shown that the controller is insensitive to the changes of the unmatchable model perturbation and wave interference and is easy to adjust the design parameters.
出处
《控制工程》
CSCD
北大核心
2009年第S1期51-55,79,共6页
Control Engineering of China
关键词
不匹配不确定系统
反馈线性化
反步控制
滑模变结构控制
航向控制
unmatched uncertain system
feedback linearization
backstepping control
sliding mode control
ship course control
