基于滑模控制技术的视觉板球控制系统设计

Control system design for visual cricket based on sliding model control

针对视觉板球跟踪控制问题,基于线性化动力学模型,研究了基于滑模变结构控制技术的视觉板球跟踪控制。首先,根据板球系统的物理模型,推导了视觉板球的动力学模型,在小角度假设下,对建立的动力学模型进行了线性化,并建立了系统的状态空间模型。其次,针对建立的状态空间模型,通过设计线性滑模面,结合新型非线性滑模趋近律,设计了视觉板球滑模控制律,并基于Lyapunov稳定性理论,对设计的滑模控制律进行了稳定性证明。最后,将设计的控制律代入建立的状态空间模型进行仿真验证,同时与现有的控制方法(极点配置与LQR)进行对比仿真。仿真结果表明,设计的滑模控制律渐近稳定,并且具有良好的控制精度与系统收敛速度,稳定精度高,可实现视觉板球位置跟踪控制。

In this paper,aiming at the issue of visual cricket tracking control,on the basis of the linearized dynamic model,the visual cricket tracking control law based on the sliding mode control technology was studied.Firstly,according to the physical model of visual cricket system,the dynamic equation was derived.And with the small-angle hypothesis,the dynamic equation was linearized to establish the state equation.Secondly,on the basis of the linearized state equation model,the new sliding mode control law were designed through the linear sliding mode surface and the new sliding mode approaching law.And the stability of the designed sliding mode control law was proved based on the Lyapunov stability theory.Finally,the obtained control law was substituted into the linearized state equation model to carry out verification.Comparative simulations were carried out with existing control methods.The simulation results showed that the control law designed in this paper was asymptotically stable,and also had satisfactory control precision,system convergence rate and stable precision.So it could achieve the control of visual cricket tracking.