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由于非最小相位系统内模动态的不稳定性,传统的基于输出反馈线性化的方法将不适用。静态等价输出方法是通过构造一个和原系统输出静态等价的虚拟输出,将原系统转化为一个最小相位系统,从而使得输出反馈线性化方法得以应用。等价滑模控制就是在静态等价输出反馈线性化基础上的滑模控制。对于输出跟踪问题,现有的基于等价滑模控制需要进行两次反馈线性化,过程较复杂,且控制器的设计采用的是不连续的滑模方法,引入了抖振现象。对此,提出了一种基于一次等价输出反馈线性化的连续滑模控制器设计。并将这一方法应用于设计固定翼飞行器的俯仰角跟踪控制器,达到了快速准确跟踪的目的。
Due to the instability of internal mode dynamics of non-minimum phase systems, the traditional output feedback linearization method will not be suitable. The static equivalent output method transforms the original system into a minimum phase system by constructing a static output equivalent to the original system output, so that the output feedback linearization method can be applied. Equivalent sliding mode control is sliding mode control based on the static equivalent output feedback linearization. For the output tracking problem, the existing equivalent linear sliding mode control requires two feedback linearizations, the process is complicated, and the controller design adopts a discontinuous sliding mode method, which introduces chattering phenomenon. In this regard, a continuous sliding mode controller design based on linear output of one equivalent output feedback is proposed. And this method is applied to the design of fixed-wing aircraft pitch angle tracking controller, to achieve a fast and accurate tracking purposes.