基于自适应输入补偿的二自由度直升机系统滑模控制

2021 8th International Conference on Information, Cybernetics, and Computational Social Systems (ICCSS) Pub Date : 2021-12-10 DOI:10.1109/ICCSS53909.2021.9722015

Xuejing Lan, Weijie Yang, Jianing Zhang, Zhijia Zhao, Ge Ma, Zhifu Li

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引用次数: 0

摘要

研究了一类具有不确定性和干扰的二自由度直升机系统的解耦控制问题。采用模糊神经网络对动态耦合引起的未知输入偏差进行逼近。针对系统存在的不确定性和未知干扰，提出了一种自适应滑模控制策略。通过适当构造Lyapunov函数，证明了被控系统的稳定性。最后，通过数值仿真验证了该策略的有效性和有效性。

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Sliding mode control of a 2-DOF helicopter system with adaptive input compensation

This paper considers the decoupling control problem of a two-degree-of-freedom (2-DOF) helicopter system with uncertainties and disturbances. The unknown input bias caused by the dynamical coupling is approximated by fuzzy neural networks. An adaptive sliding mode control (SMC) strategy is proposed to deal with the uncertainties and unknown disturbances on the system. By appropriately constructing the Lyapunov function, the stability of the controlled system is proved. Finally, the effectiveness and availability of the strategy are verified by numerical simulation.

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来源期刊

2021 8th International Conference on Information, Cybernetics, and Computational Social Systems (ICCSS)

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