欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
针对3D刚体摆的倒立平衡位置处的姿态稳定性问题,考虑系统的惯量不确定性,根据3D刚体摆的约化姿态模型建立滑模面,设计相应滑模控制器,并引入自适应滑模控制,用于处理参数模型不确定的情况。李雅普诺夫稳定性分析表明提出的自适应滑模控制律能够确保3D刚体摆姿态控制系统渐近稳定。仿真实验验证了方法的有效性。
英文摘要：
To solve the posture stability problem at the inverted equilibrium position of 3D rigid pendulum, considering the uncertainty of the inertia of the system, the sliding surface is established based on the approximately pose model of 3D rigid pendulum, and the corresponding sliding mode controller is designed. The adaptive sliding mode control is introduced to deal with the uncertainty of parameter model. Lyapunov stability analysis shows that proposed adaptive sliding mode control law ensures asymptotical stablility of 3D rigid pendulum attitude control system. Simulation results demonstrate the effectiveness and feasibility of the method.
同期刊论文项目
同项目期刊论文
期刊信息
位置：