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首页> 外文期刊>International journal of aerospace engineering >Guaranteeing Prescribed Performance Control for Gyrostabilized Platform with Unknown Control Direction Preceded by Hysteresis
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Guaranteeing Prescribed Performance Control for Gyrostabilized Platform with Unknown Control Direction Preceded by Hysteresis

机译：迟滞先于未知控制方向的陀螺稳定平台的保证规定性能控制

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摘要

This paper investigates the problem of precise and quick tracking for gyrostabilized platform (GSP) with unknown hysteresis, unknown control directions, and unknown compound disturbance. Firstly, the dynamic model of GSP is transformed into a strict feedback formulation by designed FD to facilitate the backstepping control system. Secondly, performance functions are constructed at each step of backstepping design to force tracking errors to fall within the prescribed boundaries. Besides, through ingenious transformation, radial basis function neural network (RBFNN) is applied to estimate the unknown control gains preceded by hysteresis. Hence, the problem of prescribed performance control with unknown compound disturbances, unknown hysteresis, and unknown control directions is creatively solved. Furthermore, the exploited controllers are accurate model independent, which guarantees satisfactory robustness of control laws against unknown uncertainties. Finally, the stability of the closed-loop control system is confirmed via Lyapunov stability theory, and numerical simulations are given for a GSP to validate the effectiveness of the proposed controller.
机译：本文研究了具有未知滞后，未知控制方向和未知复合扰动的陀螺稳定平台（GSP）的精确快速跟踪问题。首先，通过设计FD将GSP的动态模型转化为严格的反馈公式，以方便反推控制系统。其次，在退步设计的每个步骤中都要构建性能函数，以强制跟踪误差落在规定的范围内。此外，通过巧妙的变换，应用了径向基函数神经网络（RBFNN）来估计具有滞后作用的未知控制增益。因此，创造性地解决了具有未知的复合扰动，未知的磁滞和未知的控制方向的规定性能控制的问题。此外，被利用的控制器是独立于精确模型的，这确保了控制律对未知不确定性具有令人满意的鲁棒性。最后，通过Lyapunov稳定性理论确定了闭环控制系统的稳定性，并针对GSP进行了数值模拟，以验证所提出控制器的有效性。

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  • 来源
    《International journal of aerospace engineering》 |2019年第1期|2030617.1-2030617.12|共12页
  • 作者

    Wang Yexing; Lei Humin; Ye Jikun; Bu Xiangwei; Xue Yali;

  • 作者单位

    Air Force Engn Univ, Air & Missile Def Coll, Xian 710051, Shaanxi, Peoples R China;

    Air Force Engn Univ, Air & Missile Def Coll, Xian 710051, Shaanxi, Peoples R China;

    Air Force Engn Univ, Air & Missile Def Coll, Xian 710051, Shaanxi, Peoples R China;

    Air Force Engn Univ, Air & Missile Def Coll, Xian 710051, Shaanxi, Peoples R China;

    Nanjing Univ Aeronaut & Astronaut, Coll Automat, Nanjing 211100, Jiangsu, Peoples R China;

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