| 引用本文: | 蒋沅,曾令武,代冀阳.一类非线性直升机模型的滑模降阶控制器设计[J].控制理论与应用,2013,30(3):330~338.[点击复制] |
| JIANG Yuan,ZENG Ling-wu,DAI Ji-yang.Sliding-mode reduced-order controller design for a class of nonlinear helicopter model[J].Control Theory and Technology,2013,30(3):330~338.[点击复制] |
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| 一类非线性直升机模型的滑模降阶控制器设计 |
| Sliding-mode reduced-order controller design for a class of nonlinear helicopter model |
| 摘要点击 2356 全文点击 1750 投稿时间：2012-04-23 修订日期：2012-10-24 |
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| DOI编号 10.7641/CTA.2013.20398 |
| 2013,30(3):330-338 |
| 中文关键词 CE150直升机模型 仿射非线性系统 滑模控制 滑模降阶 微分同胚变换 |
| 英文关键词 CE150 helicopter model nonlinear affine systems sliding-mode control sliding-mode reduced-order diffeomorphism transformation |
| 基金项目 国家自然科学基金资助项目(61164015; 71061011); 航空科学基金资助项目(2011ZA56021); 江西省教育厅科技项目(GJJ12437); 南昌航空大学博士启动基金资助项目(EA201104184). |
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| 中文摘要 |
| 针对带有交叉耦合的多输入CE150直升机模型, 研究了一类多输入仿射非线性系统的控制设计问题, 基于滑模变结构控制理论, 采用了一种新的控制器设计方法: 滑模降阶方法, 即反复运用变结构控制理论, 对一类高阶的仿射非线性系统, 构造了合适的微分同胚变换函数, 把初始高阶系统降至低阶系统, 并构造了变结构控制律, 再利用当前级和上一级控制输入的映射关系反推出初始系统的控制输入. 通过CE150直升机模型仿真结果表明, 该方法有效可行. |
| 英文摘要 |
| We investigate the design of a multiple-input affine nonlinear system for the multiple-input CE150 helicopter model with cross coupling. A new method for designing the sliding-mode reduced-order controller is developed based on the sliding-mode control theory. For a type of higher order affine nonlinear system, we build appropriate diffeomorphism transformation functions to reduce the initial higher order system to a lower order system by repeatedly using variable structure control theory as well as building variable structure control rule. The control input to the initial system is backward deducted successively from the mapping relationship between the present system and the previous system. This method is feasible and effective according to the simulation results of CE150 helicopter model. |