引用本文:张嘉榕,潘亮,朱波,胡天江.显式抑制测量误差的改进滑模控制[J].控制理论与应用,2022,39(9):1651~1660.[点击复制]
ZHANG Jia-rong,PAN Liang,ZHU Bo,HU Tian-jiang.Improved sliding mode control with explicit rejection on measurement error[J].Control Theory and Technology,2022,39(9):1651~1660.[点击复制]
显式抑制测量误差的改进滑模控制
Improved sliding mode control with explicit rejection on measurement error
摘要点击 1178  全文点击 454  投稿时间：2021-10-29  修订日期：2022-07-12
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DOI编号  10.7641/CTA.2022.11045
  2022,39(9):1651-1660
中文关键词  模型不确定性  测量误差  滑模控制  估计器  高频噪声  低频漂移
英文关键词  model uncertainties  measurement errors  sliding mode control  estimator  high-frequency noise  low frequency drift
基金项目  国家自然科学基金项目(61973327, 61773095)资助.
作者单位E-mail
张嘉榕 中山大学 航空航天学院 zhangjr36@mail2.sysu.edu.cn 
潘亮 中山大学 航空航天学院  
朱波 中山大学 航空航天学院  
胡天江* 中山大学 航空航天学院
中山大学 人工智能研究院 		hutj3@mail.sysu.edu.cn 
中文摘要
      反馈控制系统中模型不确定性和测量误差的同时出现, 给高精度控制器的设计带来挑战. 经典滑模控制能抵抗一定程度的模型不确定性和输入干扰, 但引入的高增益使得其性能对测量噪声极为敏感, 也容易引起系统强烈抖振. 为此, 本文针对一种典型的角度和角速率测量分别包含高频和低频测量误差条件, 提出了一种改进的基于趋近律的角度跟踪控制方案. 本方案采用低通滤波器来应对高频测量噪声, 同时采用一种新颖的基于模型的测量误差估计器, 来补偿低频测量漂移. 采用Quanser Aero平台进行两自由度角轨迹跟踪控制仿真和实验验证, 并与自抗扰控制等几种典型鲁棒控制方案进行了全面对比, 证实了本文方案性能上的优越性和调参的便捷性.
英文摘要
      The simultaneous appearance of obvious model uncertainties and measurement errors in feedback control system pose a challenge for the design of high-accuracy controllers. Although the classical sliding mode control is capable of rejecting model uncertainties and input disturbances, its performance is usually sensitive to measurement errors due to the high-gain nature. To overcome this limit, an improved angle tracking control scheme based on the approaching law is proposed by incorporating two different modules, where the high-frequency noises and low-frequency drift exist in angular and angular velocity measurements respectively. One module is a low-passing filter used to eliminate the highfrequency measurement noises in the output, whereas the other module is a novel model-based estimator which generates a compensation signal to correct the low-frequency measurement drift. Both simulation and experimental verifications are carried out on a Quanser Aero platform to check the superiority of performance and convenience of parameter adjustment of the proposed controllers for pitch and yaw angular trajectory tracking comparing with typical control schemes such as active disturbance rejection control.