基于ESO的装甲车辆稳瞄系统积分滑模控制

 针对装甲车辆稳瞄系统中存在摩擦力矩、参数漂移等非线性扰动因素造成系统性能下降的问题，设计一种基于扩张状态观测器（ESO）的积分滑模控制策略。在基于状态变量的滑模面中引入了误差积分补偿项，有利于降低系统的稳态误差，同时突破了常规滑模控制中被跟踪信号的各阶导数均需已知的限制；利用ESO对系统内外扰动进行观测补偿，减小了滑模控制所需要的切换增益，削弱滑模控制容易出现的抖振现象。仿真及实验结果表明，跟踪精度保持在0.5％以内，系统最大稳定误差小于0.1 mrad，该控制策略能够很好地抑制各种非线性扰动因素的影响，有效地改善系统的控制性能。

Integral sliding mode control for armored vehicles steady sighting system based on extended state observer

To solve problems of system performance degradation caused by nonlinearity such as friction and parameter drift，an integral sliding mode controller for armored vehicles steady sighting system based on extended state observer(ESO) was designed. An error integral compensation term was introduced into the sliding surface based on the state variables in order to reduce the steady state error and break the restrictions that the derivative of the tracking signal must be known. The ESO was introduced to estimate and compensate the inner and outer disturbances of the system, which could help to reduce the required value of switching gain for sliding mode control method and weaken the chattering phenomenon of the system．The simulation and experiment result shows that the tracking accuracy keeps within 0.5% and the max system steady error  is less than 0.1 mrad, which implies that the method can restrain the influences caused by the diversified nonlinearity and improve the system performance effectively.