基于高斯伪谱法的系绳式InSAR系统展开滑模控制

Sliding mode control of a tethered InSAR system deployment on the basis of the Gauss pseudospectral method

针对系绳式InSAR系统的快速展开问题,设计一种系绳张力自适应滑模控制器以跟踪系统展开最优路径。首先使用系统三维动力学模型,然后面向任务确定系统性能指标和约束,基于高斯伪谱法规划出系统展开的最优路径,并且提出一种系绳张力自适应滑模控制器在系统存在模型误差和外界扰动情况下跟踪系统最优展开速度,并通过Lyapunov函数证明闭环系统的稳定性。仿真结果表明:在该控制器作用下系统能够克服模型误差和外界扰动跟踪系统最优展开速度,且在最大估计初始偏差情况下展开到目标位置附近,稳态误差约为1°。

The rapid deployment of a tethered InSAR was studied in the study. T he Gauss pseudospectral method （GPM ） was used to plan the optimal deployment trajectory and an adaptive sliding mode controller was proposed to counteract the adverse impact of modeling error and external disturbances. First,a simple system model was used and discretized as constraints by GPM . Second,the optimal deployment trajectory that can satisfy the mission re-quirement was acquired. Finally,an adaptive sliding mode controller was designed to track the optimal deployment velocity trajectory and stability was analyzed using Barbalatrs lemma. Numerical simulations show the system could deploy in the vicinity of the target location under the controller with a maximum steady error of 1 degree.