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为了有效地消除被控系统中高度非线性,强耦合及参数不确定性对于控制系统所造成的影响,设计了Terminal滑模变结构动态逆控制方法。该方法通过引入一种增广滑模超平面,给出任意阶系统选择Terminal滑模面的具体数学表达式,并基于李雅普诺夫稳定性理论得出相应控制器,保证了输出跟踪误差能够在有限的时间内达到零,并且误差趋于零的时间可以根据情况任意设置。并以高超声速飞行器为例,设计了基于高超声速飞行器纵向模型的Terminal滑膜鲁棒控制器,使其能够在高度非线性、多变量和不稳定特性作用下,跟踪高度和速度指令。最后的仿真结果表明,采用Terminal滑模与动态逆相结合的控制方法,有效的弥补了非线性动态逆需要精确模型的缺点,有效地改善了整个控制系统的性能,使系统具有良好的鲁棒性。
In order to effectively eliminate the influence of the high nonlinearity, strong coupling and parameter uncertainty on the control system in the controlled system, a dynamic inverse control method of Terminal sliding mode variable structure is designed. By introducing an augmented sliding-mode hypersurface, the method gives a specific mathematical expression for selecting arbitrary sliding-mode surface of Terminal system. Based on the Lyapunov stability theory, the corresponding controller is obtained, which ensures that the output tracking error can be obtained at A finite time to zero, and the error tends to zero the time can be arbitrarily set. Taking the hypersonic vehicle as an example, the Terminal synchro robust controller based on the longitudinal model of the hypersonic vehicle is designed to track the altitude and velocity commands under the condition of highly nonlinear, multivariable and unstable. Finally, the simulation results show that the control method combining Terminal sliding mode with dynamic inverse phase compensation can effectively make up for the shortcomings that the nonlinear dynamic inverse requires accurate model, effectively improve the performance of the whole control system and make the system robust Sex.