Aiming at the attitude stability problem of the vehicle-mounted parallel stable platform affected by multi-source interference,a linear extended state observer composite fast non-singular terminal sliding mode control scheme is proposed.Firstly,the system model of the parallel stable platform is established,then,the attitude ring extended state ob-servation is designed.The system is used to estimate the disturbance of multi-source interference in the system,and the attitude loop composite fast non-singular terminal sliding mode controller is designed based on the interference estimate.The stability of the fast non-singular terminal sliding mode controller is proved based on the Lyapunov theorem.Finally,in the simulation and experimental verification of the designed controller are completed on the vehicle-mounted parallel stabi-lization platform.
关键词
并联稳定平台/姿态控制/扩张状态观测器/快速非奇异终端滑模
Key words
parallel stable platform/attitude control/extended state observer/fast non-singular terminal sliding mode
维普
万方数据