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.
parallel stable platformattitude controlextended state observerfast non-singular terminal sliding mode
万方数据
维普
