摘要
研究了在系统存在不确定性或外界干扰的情况下飞艇的三维航迹控制问题.根据飞艇空间运动数学模型的特点,基于滑模变结构控制关于不确定因素的不变性,采用不确定仿射非线性系统在满足匹配条件下输出解耦变结构的控制方法,设计了飞艇的三维航迹控制律.仿真结果表明,在系统存在不确定性或外界干扰的情况下,仍可使飞艇按照规划的航迹飞行.
The three-dimensional trajectory control problem for an airship with parameter uncertainties and external disturbances was considered. Based on the invariability of variable structure control with sliding mode about the uncertainties, using the output decoupling variable structure approach for matched uncertain nonlinear system, a control law of airship trajectory was designed in terms of the characteristic of mathematical model of airship. The simulation results show that the airship can flight along the planned trajectory in spite of the uncertainties in the system and external disturbances.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2006年第12期2164-2168,共5页
Journal of Shanghai Jiaotong University
关键词
飞艇
输出解耦
变结构控制
导航
仿真
airship
output decoupling
variable structure control
navigation
simulation
