一种非线性直升机系统的有限时间镇定

Finite Time Stabilization for a Nonlinear Helicopter System

针对一个具有多输入、强耦合、非线性的CE150直升机系统,给出了一种有限时间控制方案.该方案首先将整个直升机模型看作一个级联系统,通过坐标变换并采用基于限时间控制的嵌套饱和方法分别对两个子系统进行有限时间镇定;然后验证前向一致性,保证了整个闭环系统的全局有限时间镇定.仿真结果表明,该方案不但有效而且具有更好的收敛性和鲁棒性.

A finite-time control method is proposed for the CE150 helicopter with multiple inputs, strong coupling and nonlinearity. By considering the helicopter system as a cascaded one and performing coordinate transformation, a finite time nested saturation method is used to stabilize the two subsystems in finite time. The closed-loop system achieves global uniform finite-time stabilization by verifying the forward uniformity. Simulation shows effectiveness of the system, faster convergence, and better robustness.