针对一类不确定水平平台系统,本文基于扰动观测提出了一种非奇异终端滑模控

For a class of uncertain horizontal platform systems, this paper proposes a non-singular terminal sliding mode control method based on disturbance observation to make the system state stable quickly and effectively. Firstly, for uncertain items of unknown system, fuzzy logic system is used for estimation. Then, the fuzzy estimation error and external disturbance are regarded as mixed disturbances, and the disturbance observation is constructed. The controller is designed with non-singular terminal sliding mode surface, and the whole is proved by Lyapunov theory. The signals of the closed-loop system are stable, and the unknown terms of the system, namely the unknown function and the external disturbance, can be effectively estimated. Finally, through digital simulation, the effectiveness of the proposed method is verified.

In view of a kind of uncertain level platform system, based on perturbation observation, a non-singular terminal slip mode control method is proposed to enable the system state to stabilize quickly and effectively. First of all, for the unknown system insurent, the fuzzy logic system is used to estimate, and then the fuzzy estimation error and external disturbance as a hybrid perturbation, construct disturbance observation, combined with the non-singular terminal slide surface design controller, through Lyapunov theory proved that the entire closed-loop system signal is stable, and for the unknown of the system, that is, unknown function and external perturbation, can be effectively estimated. Finally, through digital simulation, the validity of the proposed method is verified.

For a class of uncertain horizontal platform system, this paper proposes a non singular terminal sliding mode control method based on disturbance observation, which makes the system state stable quickly and effectively. First of all, for unknown system uncertainties, fuzzy logic system is used to estimate, and then fuzzy estimation error and external disturbance are considered as mixed disturbance. Disturbance observation is constructed. Controller is designed by combining nonsingular terminal sliding surface. Lyapunov theory is used to prove that the signals of the whole closed-loop system are stable, and for unknown items of the system, i.e. unknown function and external disturbance, it can It is enough to achieve effective estimation. Finally, the effectiveness of the proposed method is verified by digital simulation.<br>