中文摘要：

针对大型发射装置液压起竖系统这类高阶非线性系统的控制问题,提出了一种自适应多面滑模控制方法。基于液压起竖系统的非线性模型,采用逐步递推的方法给出系统的多面滑模控制器。根据Lyapunov稳定性理论,将自适应律引入多面滑模控制器,实现对系统不确定参数和起竖过程中环境干扰的在线估计,提高系统的鲁棒性。试验结果表明,与普通的滑模控制比较,该控制方法有效地克服了系统自身参数的不确定性和外界干扰的影响,提高了起竖角度的跟踪控制精度。

英文摘要：

An adaptive multiple surface sliding mode control method is proposed for the control problem of hydraulic erecting system of large launcher, which is a typical high order irregular system. On the basis of hydraulic erecting system nonlinear model, the multiple surface sliding mode controller is proposed by using the recursive technique. According to Lyapunov stability theory, the adaptive laws are introduced for the controller to estimate the parametric uncertainties and external disturbances in real time , which improves the robustness of the erecting system. The experimental results demonstrate that the proposed method could effectively restrain the parametric uncertainties and external disturbances, the tracking accuracy in the erecting process is improved. In addition, the control performance of proposed control method is better than that of conventional sliding mode.