Nominal Model-Based Sliding Mode Control with Backstepping for 3-Axis Flight Table

作     者：刘金琨 孙富春 LIU Jin-kun;SUN Fu-chun

作者机构：Department of Automatic Control Beijing University of Aeronautics and Astronautics Beijing 100083 China State Key Laboratory of Intelligent Technology and Systems Tsinghua University Beijing 100084 China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2006年第19卷第1期

页      面：65-71页

核心收录：

学科分类：08[工学] 0825[工学-航空宇航科学与技术] 

基　　金：NationalNaturalScienceFoundationofChina(60474025 90405017) 

主　　题：nominal model sliding mode control backstepping control robust control 3-axis flight table 

摘      要：Based on nominal model, a novel global sliding mode controller （GSMC） with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.