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Based on disturbance observer of Air Cushion Vehicle course sliding backstepping control

机译：基于气垫扰动观测器的车辆航向滑行反推控制

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摘要

As far as the Air Cushion Vehicle (ACV) movement is concerned, established the nonlinear motion equations of the course and propose a sliding backstepping control algorithm base on the perturbation observer, according to the idea of backstepping recursive design, a robust variable-structure control system is used in each step to stabilize the control system what is unnecessary to adopt adaptive adjustment parameters in backstepping design, which reduces the amount of system computation. The chattering problem is reduced by using the perturbation observer. Through the application of ACV course control system, it can be seen from the simulation results that the ACV under the model uncertainties and external disturbance, the system with perturbation observer use sliding backstepping controller, design of the control law guarantees the stability of the closed-loop system and can be better observed interference to reduce output of the controller, improve the performance of the system, so it is better control effect than without observer control. Of course it can be accurate for the course control at the high movement speed.
机译：就气垫车辆（ACV）的运动而言，建立了航向的非线性运动方程，并根据扰动观测器提出了基于反步递归设计思想的鲁棒变结构控制的滑动反推控制算法。在每个步骤中都使用系统来稳定控制系统，而在后推设计中无需采用自适应调整参数，从而减少了系统计算量。通过使用摄动观察器可以减少颤动问题。通过ACV过程控制系统的应用，从仿真结果可以看出，ACV在模型不确定性和外部干扰条件下，带有扰动观测器的系统采用了滑动反推控制器，控制律的设计保证了闭环系统的稳定性。回路系统，可以更好地观察干扰，减少控制器的输出，提高系统性能，因此与没有观察者控制相比，其控制效果更好。当然，在高运动速度下进行过程控制可能是准确的。

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