信息与控制2017，Vol.46Issue(3)：373-378,6.DOI:10.13976/j.cnki.xk.2017.0373
基于加性分解的复合控制在稳定平台中的应用
Application of the Compound Control Based on the Additive Decomposition to the Stabilized Platform
摘要
Abstract
To study the effect of friction and nonlinear disturbance in the high-precision opto-electronic servo-stabilized platform, we employ additive decomposition theory to decompose a stabilized platform system into a primary system and an auxiliary system.The primary system is in charge of optical axis tracking.We design a proportion-differential (PD) controller based on acceleration control for the nominal model.The auxiliary system is in charge of optical axis stabilization.We design a nonlinear extended state observer (NESO) to effectively estimate and compensate for the equivalent interference.Combining finite time convergence theory and sliding mode control theory, we design a sliding mode compensator to compensate for unknown interferences.The stability of the system is proved by using Lyapunov theory.Matlab simulation results verify the effectiveness of the proposed method.关键词
稳定平台/加性分解原理/滑模控制/有限时间收敛Key words
stabilized platform/additive decomposition theory/sliding mode control/finite time convergence分类
信息技术与安全科学引用本文复制引用
任彦,刘慧..基于加性分解的复合控制在稳定平台中的应用[J].信息与控制,2017,46(3):373-378,6.基金项目
国家自然科学基金资助项目(61563041) （61563041）
内蒙古自治区自然科学基金资助项目(2015MS0603) （2015MS0603）
