基于非线性干扰观测器的直升机滑模反演控制

Sliding Backstepping Control for Helicopters with Nonlinear Disturbance Observer

针对3自由度直升机俯仰控制系统,提出一种基于非线性干扰观测器的滑模反演控制方法.用一种非线性干扰观测器观测系统的不确定性和外界干扰,通过选择设计参数,可以使观测误差指数收敛.对引入非线性干扰观测器后的系统采用滑模反演法设计控制器,控制律的设计保证了闭环系统的稳定性,从而达到对直升机俯仰系统跟踪控制的目的.仿真结果表明,该方法能够较理想地观测干扰,减小控制器的输出,改善系统的控制性能.

A new sliding backstepping control for helicopter using nonlinear disturbance observer is proposed.Nonlinear disturbance observer（NDO） is used to observer the uncertainties and disturbance of the system.The nonlinear disturbance observer is in exponential convergence by selecting the design parameters.Sliding backstepping controller is designed for the system with nonlinear disturbance observer.The chattering of sliding mode control is reduced.The proposed controller can guarantee stabilization of the closed-loop system.System＇s performance is improved.Finally,a computer simulation example is presented to illustrate the effectiveness and the applicability of the suggested method.