Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic character...Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.展开更多
针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding ...针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding Mode Control,CFO-FONFTSMC),以提高高速列车速度控制的鲁棒性和控制精度.首先,建立高速列车纵向多质点动力学模型,设计高精度的补偿函数观测器对系统的总扰动进行实时估计并补偿;然后,设计一种带状态负指数控制律的分数阶非奇异快速终端滑模控制算法,用于对列车的运行曲线进行跟踪控制,并通过李雅普诺夫稳定性理论证明系统在有限时间内的收敛性;最后,以CRH3型高速列车参数和合肥站-蚌埠南站的实际线路为实例,分别跟踪理想运行曲线和节能优化运行曲线进行实验验证.仿真结果表明:所提算法跟踪理想运行速度曲线的平均误差为0.01377 km/h,跟踪带干扰的节能优化运行速度曲线的平均误差为0.0364 km/h,相较于基于扩张状态观测器的滑模和非奇异快速终端滑模控制方法,所提方法具有最小的跟踪误差和更高的跟踪精度,验证了其有效性和可行性,可为列车速度跟踪控制领域的研究提供参考.展开更多
基金supported by Naval Weapons and Equipment Pre-Research Project(Grant No.3020801010105).
文摘Based on fuzzy adaptive and dynamic surface(FADS),an integrated guidance and control(IGC)approach was proposed for large caliber naval gun guided projectile,which was robust to target maneuver,canard dynamic characteristics,and multiple constraints,such as impact angle,limited measurement of line of sight(LOS)angle rate and nonlinear saturation of canard deflection.Initially,a strict feedback cascade model of IGC in longitudinal plane was established,and extended state observer(ESO)was designed to estimate LOS angle rate and uncertain disturbances with unknown boundary inside and outside of system,including aerodynamic parameters perturbation,target maneuver and model errors.Secondly,aiming at zeroing LOS angle tracking error and LOS angle rate in finite time,a nonsingular terminal sliding mode(NTSM)was designed with adaptive exponential reaching law.Furthermore,combining with dynamic surface,which prevented the complex differential of virtual control laws,the fuzzy adaptive systems were designed to approximate observation errors of uncertain disturbances and to reduce chatter of control law.Finally,the adaptive Nussbaum gain function was introduced to compensate nonlinear saturation of canard deflection.The LOS angle tracking error and LOS angle rate were convergent in finite time and whole system states were uniform ultimately bounded,rigorously proven by Lyapunov stability theory.Hardware-in-the-loop simulation(HILS)and digital simulation experiments both showed FADS provided guided projectile with good guidance performance while striking targets with different maneuvering forms.
文摘针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding Mode Control,CFO-FONFTSMC),以提高高速列车速度控制的鲁棒性和控制精度.首先,建立高速列车纵向多质点动力学模型,设计高精度的补偿函数观测器对系统的总扰动进行实时估计并补偿;然后,设计一种带状态负指数控制律的分数阶非奇异快速终端滑模控制算法,用于对列车的运行曲线进行跟踪控制,并通过李雅普诺夫稳定性理论证明系统在有限时间内的收敛性;最后,以CRH3型高速列车参数和合肥站-蚌埠南站的实际线路为实例,分别跟踪理想运行曲线和节能优化运行曲线进行实验验证.仿真结果表明:所提算法跟踪理想运行速度曲线的平均误差为0.01377 km/h,跟踪带干扰的节能优化运行速度曲线的平均误差为0.0364 km/h,相较于基于扩张状态观测器的滑模和非奇异快速终端滑模控制方法,所提方法具有最小的跟踪误差和更高的跟踪精度,验证了其有效性和可行性,可为列车速度跟踪控制领域的研究提供参考.
