两轴平台式导引头伺服系统预设性能控制

Prescribed Performance Control for Two-Axis Seeker Servo System

为了提高两轴平台式导引头伺服系统的动态跟踪性能和鲁棒性,提出一种不依赖初始误差的预设性能控制方法,通过设计一种新的性能函数,取消了对初始误差必须可知的限制,简化了控制器的设计.针对该系统面临的复杂干扰、参数摄动等问题,以及跟踪精度要求高的特点,本文采用的预设性能控制方法可以将角度以及角速度误差控制在设定的性能函数界之内,从而保证了系统响应的动态和稳态特性.文中对算法的稳定性进行了Lyapunov证明,保证了系统的稳定性.仿真实验表明,文中的方法鲁棒性强、精度高,进一步提升了系统的跟踪性能.同时,算法的结构简单,应用前景广阔.

Aiming at improving the dynamic performance and robustness of two-axis seeker servo system,this paper proposed a method without relying on initial errors.By designing a new performance function,the limit of initial errors has to be known was canceled,so the controller design was simplified. Aiming at the problem of composite disturbance and parameters perturbation as well as the requirement of high tracking precision,the prescribed performance control applied in this paper limits the angle and angular velocity tracking error within the predefined function bound,thus,the steady and dynamic performance of the system were guaranteed.Stabilized analysis based on Lyapunov theorem was carried out,the stability was guaranteed.Simulation shows that the method in this paper possesses strong robustness and high precision,the tracking ability of the system is promoted.Furthermore,the structure of the algorithm is simple,the application potential is broadness.