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Specified time nonsingular terminal sliding-mode control method for airship flight path tracking

A non-singular terminal and time-specified technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems related to singularity, convergence time and initial state and sliding mode parameters

Active Publication Date: 2017-12-08
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, there are two major problems in the terminal sliding mode control: one is the singularity problem, and the other is that the convergence time is related to the initial state and the sliding mode parameters

Method used

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  • Specified time nonsingular terminal sliding-mode control method for airship flight path tracking
  • Specified time nonsingular terminal sliding-mode control method for airship flight path tracking
  • Specified time nonsingular terminal sliding-mode control method for airship flight path tracking

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Embodiment Construction

[0090] The accompanying drawings constituting a part of this application are used to provide a further understanding of the present invention, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention.

[0091] The non-singular terminal sliding mode control method of a specified time for airship track tracking provided by the present invention first calculates the error amount and its derivative from the given command track and the actual track, defines the system state error, and then designs a specified Time-convergent terminal sliding-mode surface, design of non-singular terminal sliding-mode trajectory control law. In practical application, the airship track is measured by the integrated navigation system, and the control quantity calculated by this method is transmitted to the actuator to realize the track control function.

[0092] see fig...

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Abstract

The invention provides a specified time nonsingular terminal sliding-mode control method for airship flight path tracking. In view of the singular problem of terminal sliding-mode control and error convergence time, a terminal sliding-mode function with specified time convergence is defined, and a nonsingular terminal sliding-mode flight path control Law. A closed-loop system controlled by the method can track a command flight path at specified time and a tracking error converges to zero within the specified time, thereby providing an effective solution for the engineering implementation of the airship flight path control.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a non-singular terminal sliding mode control method for specified time tracking of an airship track. Background technique [0002] The airship is a typical aerostat, which is lifted into the air by a gas lighter than air (such as helium) in the capsule. It has the advantages of low energy consumption and long time in the air, and is widely used in earth observation, reconnaissance and monitoring, and environmental monitoring. It has important application value and broad application prospects in fields such as land surveying and mapping, and has become a research hotspot in the field of aviation. Completing the above flight tasks requires high-precision track control, that is, to control the airship to fly according to the predetermined track. The flight mechanics of the airship has the characteristics of nonlinearity, channel coupling, uncertainty, etc., making track c...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 杨跃能闫野
Owner NAT UNIV OF DEFENSE TECH
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