摘要
针对同时存在参数不确定性和结构不确定性的非线性光电伺服系统,运用自适应原理对系统的参数进行在线估计,同时提出一种改进的指数趋近律,并结合滑模控制(变结构控制)策略设计系统的滑模自适应位置控制器(APR)。以等效正弦1.2sin(0.93t)作为仿真输入,在0.45s后跟踪误差小于60μrad,表明该控制方法对此类不确定非线性系统的控制效果良好。
An improved exponential approach method and the system parameter online estimation based on the adaptive theory were implemented in a nonlinear optoelectronic servo system with parameter and structure uncertainties. SMC is applied to the design of APR in the system. Taking the equivalent 1.2sin（0.93t） as the simulation input, the tracking error is less than 60μrad after 0. 45 s. The simulation indicates the control method for such uncertain nonlinear system is effective.
出处
《应用光学》
CAS
CSCD
北大核心
2009年第2期242-245,共4页
Journal of Applied Optics
关键词
不确定性
非线性
光电伺服系统
自适应
滑模控制
parameter uncertainty
nonlinear system
optoelectronic servo system
adaptive control
SMC
