基于非线性干扰观测器的自动弹仓终端滑模控制

针对某自动弹仓位置控制过程中的负载变化和不确定性干扰，设计了基于干扰观测器和非奇异快速终端滑模的复合控制策略，建立了自动弹仓的不确定性动力学模型。干扰观测器用于估计系统复合干扰，估计值用于补偿滑模控制器以增强控制器的鲁棒性和抗干扰能力。运用Lyapunov准则证明了系统闭环稳定。所提算法和PID算法的对比实验结果显示，设计的控制律实现了自动弹仓位置的精确控制，具有良好的鲁棒性，有效提高了自动弹仓的定位稳定性。

Terminal Sliding Mode Control of Automatic Shell Magazine Based on Nonlinear Disturbance Observer

To deal with the load change and uncertain disturbance in position control of a certain automatic shell magazine, a combined control strategy based on nonlinear disturbance observer and nonsingular fast terminal sliding mode was proposed. An uncertain dynamical model of the automatic shell magazine was established. The disturbance observer was used to observe the composite disturbance, and the observed value was compensated in the sliding mode controller which improved the robustness and anti-disturbance capability of system. Closed-loop stability of the system was proved by Lyapunov criterion. Compared experimental results of the proposed algorithm and PID control algorithm show that the designed combined control law realized precision position control of the automatic shell magazine, had good robustness, and effectively improved the positioning stability of the automatic shell magazine.