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首页> 外文期刊>International Journal of Control, Automation, and Systems >A High Precision Compound Control Scheme Based on Non-singular Terminal Sliding Mode and Extended State Observer for an Aerial Inertially Stabilized Platform
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A High Precision Compound Control Scheme Based on Non-singular Terminal Sliding Mode and Extended State Observer for an Aerial Inertially Stabilized Platform

机译：基于非奇异末端滑动模式和空中恒定稳定平台扩展状态观测的高精度化合物控制方案

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摘要

This paper presents a high precision compound control scheme based on non-singular terminal sliding mode and extended state observer (ESO) for an aerial inertially stabilized platform (ISP) to suppress the effects of multi-source disturbances on the control performance of the ISP. Firstly, a non-singular terminal sliding mode controller is proposed to achieve high disturbance rejection ability, by which the multi-source disturbances are integrally suppressed as an aggregate disturbance. And then, to restrain the chattering effect of the sliding mode control, a disturbance compensation scheme based on the extended state observer is proposed. By the ESO, the disturbances are observed and compensated in real time and hence the chattering effect is significantly alleviated. Meanwhile, a parameter configuration method is proposed to simplify the ESO design. To verify the method, simulations and experiments are conducted. The results show that the proposed compound control scheme has excellent ability in both disturbance rejection and chattering reduction, by which the stabilization precision of the ISP is improved significantly.
机译：本文介绍了基于非奇异终端滑动模式和用于空中惯性稳定平台（ISP）的扩展状态观测器（ESO）的高精度化合物控制方案，以抑制多源扰动对ISP控制性能的影响。首先，提出了非奇异终端滑动模式控制器以实现高扰动抑制能力，通过该扰动能力通过该扰动能力整体抑制为聚合扰动。然后，为了抑制滑模控制的抖动效果，提出了一种基于扩展状态观察者的扰动补偿方案。通过ESO，实时观察和补偿干扰，因此抖动效应显着缓解。同时，提出了一种参数配置方法来简化ESO设计。为了验证方法，进行模拟和实验。结果表明，所提出的化合物控制方案在干扰排斥和抖动减少方面具有优异的能力，通过该减少ISP的稳定精度显着提高。

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