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惯性平台稳定回路基于Backstepping的动态滑模控制(英文).docx

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惯性平台稳定回路基于Backstepping的动态滑模控制(英文) Title:InertialPlatformStableLoopbasedonBacksteppingandDynamicSlidingModeControl Abstract: Inertialplatformsarewidelyusedinvariousapplicationssuchasaerospace,navigation,androbotics,wherethestabilityandaccuracyoftheplatformarecrucial.ThispaperpresentsaBacksteppingandDynamicSlidingModeControl(DSMC)approachtoensurestableandpreciseoperationofaninertialplatform.Theproposedcontrolschemeeffectivelydealswiththeinherentnon-lineardynamicsanddisturbancesinthesystem,leadingtoimprovedperformanceandrobustness.Theobjectiveistodevelopacontrolstrategythatguaranteesstableoperationandenhancestheplatform'sabilitytotrackdesiredtrajectories. 1.Introduction: Inertialplatformsarepopularduetotheirrobustnessandabilitytoprovideaccuratemeasurementsindifferentenvironments.However,thedynamicnatureofthesystemanddisturbancescanleadtochallengesinmaintainingstabilityandprecision.ThispaperproposesacontrolapproachbasedonBacksteppingandDSMCtoaddresstheseissuesandensurestableoperationoftheinertialplatform. 2.Background: 2.1InertialPlatforms: Inertialplatformsconsistofasetofsensorssuchasaccelerometersandgyroscopesthatmeasurelinearandangularmotion.Thesemeasurementsareprocessedtoprovideaccurateposition,velocity,andorientationinformation. 2.2BacksteppingControl: Backsteppingisacontroltechniquethatiseffectiveindealingwithnon-linearsystems.Itinvolvesdividingthecontrolproblemintosmallersubsystemsanddesigningcontrollersforeachsubsysteminasequentialmanner. 2.3DynamicSlidingModeControl: DSMCisarobustcontroltechniquethatcanhandlesystemuncertaintiesanddisturbances.Itinvolvesdesigningaslidingsurfaceandacontrollawtoforcethesystemstatetoreachandstayontheslidingsurface. 3.SystemModeling: Thedynamicsoftheinertialplatformaremodeledusingappropriatemathematicalequations,consideringtheinterdependencebetweenthesensorsandactuators.Themodelincludesnon-linearitiesanddisturbancestoaccuratelyrepresentthereal-worldbehaviorofthesystem. 4.ControlDesign: 4.1BacksteppingControlDesign: Backsteppingisemp