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I. INTRODUCTION
= f f + g f M C
(2)
where f s = f , f , f ,
= f s + gs
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f =
gs
tan cos
sin
=
sec cos
1 tan sin
0
cos
0 sec sin
p
p
p
f f = f p , f q , f r , where f p = I qr qr + Ip p + gl laero ,
r
f q = I prq pr + Iqq q + g mq maero , f r = I pq
pq + Irr r + g nr naero ,
T
x = f ( x ) + g1 ( x )u + g2 ( x )d
r
I pq
= ( I xx I yy ) I zz , Irr = g nr Izz , g nr = 1 I zz ,
pb
rb
Cl , + Cl , p
laero = qSb
+ Cl , r
,
V
V
2
2
and
qc
Cm,a + Cm,q
( CD, sin + CL, cos ) ,
maero = qSc
+ X cg qS
2
V
g1 ( x ), g2 ( x ) R n m .
pb
rb
Cn, + Cn, p
Y ,
naero = qSb
+ Cn , r
+ X cg qSC
2
2
V
V
nonsingular
MC = g f + Mr
is
the
g mq
norm-bounded
torque
vector;
gf
g q , a
g r , a
g p , r
g q , r
g r , r
x = f ( x ) + g1 ( x ) [ u + g0 ( x )d ]
D , a
sin + CL , r
(5)
)
cos ) ,
g q , e = qScC
m , e + X cg qS CD , e sin + CL , e cos ,
g q , a = qScC
m , a + X cg
(4)
where g p , e = qSbC
l , e , g p , a = qSbCl , a , g p , r = qSbCl , r ,
(
(C
qS
that
g p , a
g0 ( x ) R m m
g1 ( x ) g0 ( x ) = g2 ( x )
= g q , e
g r , e
matrix
satisfies
g nr )
control
g f = diag ( g lp
(3)
g q , r = qScC
m , r + X cg qSCD , r sin ,
xr
gr ,e = qSbC
n,e + X cg qSCY ,e , gr , a = qSbCn,a + X cg qSCY , a ,
g r , r = qSbC
n , r + X cg qSCY , r .
the state vector for the fast loop and is called as fast state
vector; = [ , , ] is the state vector for the slow loop
T
1574
s = e + as e + bs eqs / ps = 0
(6)
( x) =
(7)
ed = ( x ) g2 ( x )ed
ed = ( x ) g2 ( x ) [ z + ( x ) ] + ( x ) [ f ( x ) + g1 ( x )u]
(8)
( x ) [ f ( x ) + g1 ( x )u + g2 ( x )d ]
= ( x ) g2 ( x ) d d = ( x ) g2 ( x )ed
=0
(9)
(15)
B. Design of NDO
To estimate the unknown disturbance d , a NDO is
d R3 , z R3 , d R3 , ( x ) R3 , ( x ) R 33 .
suggested as[11-13]
z = ( x ) g2 ( x ) [ z + ( x ) ] ( x ) [ f ( x ) + g1 ( x )u]
d = z + ( x )
q /p
M C = g f 1 c + a f e + b f e f f f f
(14)
q / pf
(13)
ps
a (0) ( ps qs )/ ps + bs
tf =
, i = 1, 2, 3
ln s ei
a s ( ps q s )
bs
f = e + a f e + b f e f
(12)
( x )
x
(11)
x c3
x c1
x c2
( x ) = 1 x1 + 1 2 x2 + 2 3 x3 + 3
c3
c1
c2
(16)
and satisfies
1575
1 T
e d g 2 ( x ) ed
2
1
1
T
= edT g2 ( x) ( ( x) ) g2 ( x)ed edT g2 ( x)( x) g2 ( x)ed
2
2
Consider
)
(
1 1 + x1c1 1
0
0
( x )
( x) =
0
2 1 + x2c2 1
0
=
x
0
0
3 1 + x3c3 1
(18)
(20)
ds
MC
d f
is
the
initial
rate
vector;
11
1.2
10
8
7
6
5
NDO
3
t/s
(21)
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NDO , d, c /deg
NDO, d, c /deg
= f s + gs + d s
= f f + g f M C + d f
angular
(23)
Mc = Mc M
V. SIMULATION RESULTS
(0) = [ 0, 0, 0 ]
V = edT g 2 ( x ) ( x ) g 2 ( x )ed
(22)
(19)
= f s + gs ( + gs1 d s )
1
= f f + g f ( M C + g f d f
c = c ,
(17)
1
Then V = ( edT g2 ( x )ed + edT g2 ( x )ed )
2
NDO
d
0.8
0.6
0.4
0.2
0
-0.2
3
t/s
[8]
12
eNDO ,ed/deg
10
8
6
NDO
c
0
eNDO
20
ed
[9]
10
0
-10
[10]
-20
30
-30
t/s
[12]
rNDO
rd
20
rNDO ,r/deg
10
0
-10
-20
aNDO
-30
ad
0
[11]
30
aNDO ,ad/deg
3
t/s
[13]
2
0
-2
-4
t/s
t/s
REFERENCES
[1]
[2]
[3]
[4]
[5]
[6]
[7]
1577
[8] X. Yu, Z. Man." Fast terminal sliding mode control design for
nonlinear dynamic systems". IEEE Trans Circuits Systems Part I, 2002,
vol. 39 , num. 2, pp. 261-264.
[9] G.Y. Huang, C.S. Jiang, Y.H. Wang. "Research of Terminal Sliding
Mode Control Based on Fast Fuzzy Disturbance Observer for UASV
Re-entry". Journal of Astronautics, 2007, vol. 28, num. 2, pp. 292-297.
[10] G.Y. Huang, C.S. Jiang, Y.L. Xue. "An adaptive terminal sliding
mode control and its applications". Journal of Aerospace Power, 2008,
vol. 23, num. 1, pp. 156-162.
[11] W.H. Chen. "Harmonic Disturbance Observer for Nonlinear
systems". Journal of Dynamic Systems, Measurement and Control,
2003, vol.125,num. 1, pp. 114-117.
[12] W.H. Chen. "Disturbance Observer Based Control for Nonlinear
Systems". IEEE/ASME Transactions on Mechatronics, 2004, vol. 9,
num. 4, pp. 706-710.
[13] W.H. Chen, D.J. Balance, P.J. Gawthrop, et al. "A Nonlinear
Disturbance Observer for Robotic Manipulators". IEEE Transactions of
Industrial Electronics, 2000, vol. 47, num. 4, pp. 932-938.