Nonlinear Robust Sliding Mode Control of Flight Simulator (6-3) Gough-Stewart Type in Task Space

M. Litim; A. Omari

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Nonlinear Robust Sliding Mode Control of Flight Simulator (6-3) Gough-Stewart Type in Task Space

机译：任务空间中飞行模拟器（6-3）Gough-Stewart型的非线性鲁棒滑模控制

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This paper presents a sliding mode control of a flight simulator Gough-Stewart type. The control is based on the inverse dynamic model of the robot in task space. Kinematic analysis is also discussed. High performance tracking control of a 6 DOF Stewart platform normally requires full knowledge of the system dynamics. In this paper, some important properties of the dynamics of the Stewart platform are considered to develop a sliding mode controller which can drive the upper platform angular and translation positions to the desired trajectories. Stability analysis based on Lyapunov theory is performed to ensure that the designed controller is stable. Numerical simulation is completed to show the effectiveness of the control system even in the case of large parameter variations.

机译：本文介绍了一种飞行模拟器Gough-Stewart型的滑模控制。该控制基于任务空间中机器人的逆动力学模型。运动分析也被讨论。 6 DOF Stewart平台的高性能跟踪控制通常需要对系统动力学的全面了解。在本文中，考虑了Stewart平台动力学的一些重要属性，以开发一种可将上部平台的角度和平移位置驱动到所需轨迹的滑模控制器。基于李雅普诺夫理论进行稳定性分析，以确保所设计的控制器稳定。数值模拟已经完成，以显示即使在参数变化较大的情况下控制系统的有效性。

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《International review of automatic control》 |2014年第1期|共7页
作者
M. Litim; A. Omari;
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原文格式 PDF
正文语种 eng
中图分类自动化技术及设备;
关键词
Flight Simulator; Gough-Stewart Platform; Sliding Mode Control; Lyapunov Stability;

机译：飞行模拟器;Gough-Stewart平台;滑模控制;Lyapunov稳定性;

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1. Nonlinear Robust Sliding Mode Control of Flight Simulator (6-3) Gough-Stewart Type in Task Space [J] . M. Litim, A. Omari International review of automatic control . 2014,第1期

机译：任务空间中飞行模拟器（6-3）Gough-Stewart型的非线性鲁棒滑模控制
2. Robust Adaptive Gain Higher Order Sliding Mode Observer Based Control-constrained Nonlinear Model Predictive Control for Spacecraft Formation Flying [J] . Ranjith Ravindranathan Nair, Laxmidhar Behera 自动化学报：英文版 . 2018,第001期

机译：基于鲁棒自适应增益高阶滑模观测器的编队飞行控制约束非线性模型预测控制
3. Robust Adaptive Gain Higher Order Sliding Mode Observer Based Control-constrained Nonlinear Model Predictive Control for Spacecraft Formation Flying [J] . Ranjith Ravindranathan Nair, Laxmidhar Behera 自动化学报（英文版） . 2018,第001期

机译：基于鲁棒自适应增益高阶滑模观测器的编队飞行控制约束非线性模型预测控制
4. Design of Robust Controller Based on Adaptive Backstepping and Slide Mode for Flight Simulator [C] . Liu Zhenghua, Wu Yunjie, Er Lianjie International Symposium on Instrumentation and Control Technology; 20061013-15; Beijing(CN) . 2006

机译：基于自适应Backstepping和滑模的飞行仿真器鲁棒控制器设计。
5. Analytical modeling, analysis and robust control of uncertain nonlinear dynamical systems by using sliding mode control (SMC) and quantitative feedback theory (QFT). [D] . Rajapakse, Nuraj I. 2006

机译：利用滑模控制（SMC）和定量反馈理论（QFT）对不确定的非线性动力系统进行分析建模，分析和鲁棒控制。
6. Robust In-Flight Sensor Fault Diagnostics for Aircraft Engine Based on Sliding Mode Observers [O] . Xiaodong Chang, Jinquan Huang, Feng Lu 2017

机译：基于滑模观测器的飞机发动机稳健的机上传感器故障诊断
7. A Nonlinear Robust Sliding Mode Controller with Auxiliary Dynamic System for the Hovering Flight of a Tilt Tri-Rotor UAV [O] . Guang He, Li Yu, Huaping Huang, 2020

机译：具有辅助动态系统的非线性鲁棒滑动模式控制器，用于悬停倾斜三转子UAV的悬停飞行

Nonlinear Robust Sliding Mode Control of Flight Simulator (6-3) Gough-Stewart Type in Task Space

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