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基于嵌套饱和的输入约束浮空器非线性控制

孙丁山 陈丽 温余彬 段登平

孙丁山, 陈丽, 温余彬, 段登平. 基于嵌套饱和的输入约束浮空器非线性控制[J]. 工程科学学报, 2018, 40(12): 1557-1568. doi: 10.13374/j.issn2095-9389.2018.12.015
引用本文: 孙丁山, 陈丽, 温余彬, 段登平. 基于嵌套饱和的输入约束浮空器非线性控制[J]. 工程科学学报, 2018, 40(12): 1557-1568. doi: 10.13374/j.issn2095-9389.2018.12.015
SUN Ding-shan, CHEN Li, WEN Yu-bin, DUAN Deng-ping. Nonlinear control of aerostat with input constraints based on nested saturation[J]. Chinese Journal of Engineering, 2018, 40(12): 1557-1568. doi: 10.13374/j.issn2095-9389.2018.12.015
Citation: SUN Ding-shan, CHEN Li, WEN Yu-bin, DUAN Deng-ping. Nonlinear control of aerostat with input constraints based on nested saturation[J]. Chinese Journal of Engineering, 2018, 40(12): 1557-1568. doi: 10.13374/j.issn2095-9389.2018.12.015

基于嵌套饱和的输入约束浮空器非线性控制

doi: 10.13374/j.issn2095-9389.2018.12.015
基金项目: 

国家自然科学基金资助项目(61733017);上海浦江人才计划资助项目(18PJD018)

详细信息
  • 中图分类号: V411

Nonlinear control of aerostat with input constraints based on nested saturation

  • 摘要: 提出用嵌套饱和函数描述的控制律形式,可以同时解决速率和幅值约束的控制问题.建立浮空器的三自由度模型,将除螺旋桨推力外的其他作用力作为扰动项,进而把该系统化为类积分链式系统;基于嵌套饱和控制理论,研究了类积分链式系统的控制输入幅值及速率约束与控制器饱和函数参数的关系;以浮空器为研究对象,进行纵向和横向通道解耦控制器设计,实现控制系统输入的幅值和速率有界.利用Lyapunov稳定性原理证明了系统的全局稳定性,分析了可调控制器参数对改善系统的动态性能的影响,在考虑风扰动的情况下,仿真验证了控制器的有效性和鲁棒性.
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出版历程
  • 收稿日期:  2017-11-13

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