摘要
针对未知非线性、外界干扰和参数摄动等不确定性因素对惯性导航中转位控制系统的影响,采用Back-stepping方法对转位系统进行控制.通过引入动态面技术(dynamic surface control,DSC)降低Backstepping方法设计控制器的复杂度,利用Lyapunov稳定性分析,证明了设计后的闭环系统半全局渐近稳定.仿真结果表明,当外部干扰存在非线性和不确定性时,作者所设计的控制器表现出良好的自适应性和鲁棒性,稳态精度满足惯性导航系统多位置初始对准的使用要求.
To deal with the problems of unknown non-linearity,external disturbance and parameter perturbation in the rotary position system of inertial navigation,the adaptive Backstepping controller was designed to control the rotary position system.The dynamic surface control(DSC) technique was used to lessen the designing complexity.It was proved by using Lyapunov stability analysis that the designed closed-loop adaptive system is hemi-global asymptotic stable.Simulation results show that the controller designed in this paper has apparent adaptability and favorable robustness when there exist external disturbance and unknown non-linearity.The steady precision of controller satisfies the application of multi-position initial alignment in SINS.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2010年第5期552-556,572,共6页
Transactions of Beijing Institute of Technology
基金
教育部新世纪人才支持计划项目(NCET-05-0177)