一种非线性直升机系统的有限时间镇定

doi:10.3969/j.issn.0255-8297.2015.03.010

应用科学学报 ›› 2015, Vol. 33 ›› Issue (3): 317-328.doi: 10.3969/j.issn.0255-8297.2015.03.010

一种非线性直升机系统的有限时间镇定

蒋沅，史志谦，代冀阳

南昌航空大学信息工程学院，南昌330063

收稿日期:2014-07-14 修回日期:2014-10-14 出版日期:2015-05-30 发布日期:2014-10-14
作者简介:蒋沅，博士，研究方向：非线性系统输出调节理论，E-mail: jiangyuan@nchu.edu.cn
基金资助:
国家自然科学基金(No.61164015)；江西省教育厅科技项目基金(No.GJJ1243); 南昌航空大学博士启动基金(No.EA201104184)资助

Finite Time Stabilization for a Nonlinear Helicopter System

JIANG Yuan, SHI Zhi-qian, DAI Ji-yang

College of Information and Engineering, Nanchang Hangkong University,
Nanchang 330063, China

Received:2014-07-14 Revised:2014-10-14 Online:2015-05-30 Published:2014-10-14

摘要/Abstract

摘要： 针对一个具有多输入、强耦合、非线性的CE150直升机系统，给出了一种有限时间
控制方案. 该方案首先将整个直升机模型看作一个级联系统，通过坐标变换并采用基于限时间
控制的嵌套饱和方法分别对两个子系统进行有限时间镇定；然后验证前向一致性，保证了整
个闭环系统的全局有限时间镇定. 仿真结果表明，该方案不但有效而且具有更好的收敛性和
鲁棒性.

关键词: CE150 直升机系统, 有限时间控制, 级联系统, 嵌套饱和

Abstract: A finite-time control method is proposed for the CE150 helicopter with multiple
inputs, strong coupling and nonlinearity. By considering the helicopter system as a cascaded
one and performing coordinate transformation, a finite time nested saturation method is
used to stabilize the two subsystems in finite time. The closed-loop system achieves global
uniform finite-time stabilization by verifying the forward uniformity. Simulation shows
effectiveness of the system, faster convergence, and better robustness.

Key words: CE150 helicopter, finite time control, cascading system, nested saturation

中图分类号:

TP273

蒋沅，史志谦，代冀阳. 一种非线性直升机系统的有限时间镇定[J]. 应用科学学报, 2015, 33(3): 317-328.

JIANG Yuan, SHI Zhi-qian, DAI Ji-yang. Finite Time Stabilization for a Nonlinear Helicopter System[J]. Journal of Applied Sciences, 2015, 33(3): 317-328.

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一种非线性直升机系统的有限时间镇定

Finite Time Stabilization for a Nonlinear Helicopter System

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