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为加快Terminal滑模收敛速度,并避免控制器奇异,首先分析了Terminal滑模产生奇异的原因,基于李代数给出Terminal滑模控制器非奇异判据。然后,设计了两种新型非奇异快速Terminal滑模,其收敛速度在任意点均快于现有标准快速Terminal滑模;给出了收敛时间公式。将新型快速Terminal滑模与动态滑模相结合,避免了控制器抖振,设计了近空间飞行器快、慢回路控制器。采用改进的非线性干扰观测器逼近近空间飞行器复合干扰,进一步提高控制精度。基于Lyapunov理论,严格证明了系统的稳定性。最后,进行了仿真验证。
In order to speed up the convergence rate of Terminal sliding mode and avoid singularity of controller, the reason of singularity of Terminal sliding mode is analyzed firstly. Based on Lie algebra, the non-singular criterion of Terminal sliding mode controller is given. Then, two new non-singular fast Terminal sliding modes are designed, which converge faster than the existing standard fast Terminal sliding mode at any point. The convergence time formula is given. Combining the new fast Terminal sliding mode with the dynamic sliding mode, the chattering of the controller is avoided and the fast and slow loop controller of the near space vehicle is designed. The improved non-linear disturbance observer is used to approximate the complex interference of near space vehicles to further improve the control accuracy. Based on Lyapunov theory, the stability of the system is strictly proved. Finally, simulation is carried out.