基于超螺旋滑模的船载稳定平台镇定控制

doi:10.12305/j.issn.1001-506X.2022.05.28

Abstract

Abstract:

For the stabilization control problem of the vessel-borne platform in the presence of dynamic uncertainties and unknown external disturbances, this paper proposes the super-twisting extended state observer (STESO) based super-twisting sliding mode (STSM) stabilization control strategy. The STESO is constructed to online estimate the total disturbances lumped by the dynamic uncertainties and the unknown external disturbances of the vessel-borne stabilization platform. Based on the above, the STSM stabilization control law of the vessel-borne platform is designed by employing the super-twisting algorithm. The upper support surface of the vessel-borne platform is asymptotically adjusted to the desired position and attitude in the inertial space and is kept to be unchanged. The simulation results with comparisons demonstrate the higher robustness of the designed vessel-borne platform stabilization control law and the higher disturbance estimation and stabilization control accuracy.

Key words: vessel-borne stabilization platform, unknown external disturbances, dynamic uncertainties, stabilization, super-twisting algorithm

CLC Number:

U661.33

Wenji LIU, Jialu DU, Jian LI, Zheng LI. Stabilization control for vessel-borne stabilization platform based on super-twisting sliding mode[J]. Systems Engineering and Electronics, 2022, 44(5): 1662-1669.

Figures/Tables 8

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References 25

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Stabilization control for vessel-borne stabilization platform based on super-twisting sliding mode

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