基于模糊干扰观测器的自适应反演滑模控制研究

Research of Adaptive Backstepping Sliding Mode Controller Based on Fuzzy Disturbance Observer

摩擦等外界干扰,系统不确定性信息及参数变化对飞行仿真转台的运行造成不利影响。针对该问题,提出基于模糊干扰观测器(Fdo)的自适应反演滑模控制方案(ABSMC),在对外界干扰和不确定信息进行补偿的基础上,从稳定性出发,对不确定上界进行自适应估计,并逐步反推出控制器。通过对某型仿真转台进行仿真,得知该方案与普通滑模控制(SMC)方案相比,具有更高的跟踪精度,并极大的提高了对外界干扰,系统不确定信息和参数变化的鲁棒性。

Friction and other external disturbances,uncertainty model information and parameter variation are negative to the flight simulator system.In order to solve this problem,an Adaptive Backstepping Sliding Mode Controller（ABSMC） based on Fuzzy disturbance observer（Fdo） was proposed.On the basis of the compensation for the external disturbance and uncertainty information,starting from the stability,the controller was obtained gradually by the adaptive estimation to the uncertainty upper bound.With the simulation of one flight simulator,it can be seen that the proposed control scheme can obtain better tracking performance and more robustness against external disturbances,uncertainty model information and parameter variation to the simple Sliding Mode Controller（SMC）.