带有摩擦非线性的CMG框架伺服系统有限时间自适应鲁棒控制

Finite-time adaptive robust control for CMG gimbal servo system with friction nonlinearities

针对控制力矩陀螺框架伺服系统中存在的摩擦非线性及不确定性等问题,提出一种基于终端滑模的有限时间自适应鲁棒控制律,确保闭环控制系统跟踪误差能够在有限时间内快速收敛到包含原点在内的任意小邻域内.通过对不确定参数的在线估计提高系统对参数变化的鲁棒性,并抑制外部干扰及摩擦非线性带来的不利影响.采用Lyapunov稳定性理论对闭环控制系统的稳定性进行分析并证明.通过对陀螺框架伺服控制系统进行仿真来验证所提出的控制律的有效性.

For a control moment gyroscopes gimbal servo system with friction nonlinearities and uncertainties, a terminal sliding mode based finite-time adaptive robust control method is presented, which can guarantee that the tracking error of the closed-loop system can converge to an arbitrarily small neighborhood containing the origin. Then, parametric uncertainties are estimated online to improve the robustness of the system to parametric variation and the adverse effects of external disturbance and friction nonlinearities on the system are reduced. The stability of the closed-loop control system is analyzed and proved via the Lyapunov stability theory. The simulation results for the gyroscopes gimbal servo control system verify the effectiveness of the proposed control law.