简介：研究3D刚体摆姿态稳定性的滑模控制问题．3D刚体摆由一个刚体绕一固定且无摩擦的支点旋转，刚体受到恒重力作用且具有三个转动自由度．针对3D刚体摆平衡位置处的姿态稳定控制问题，设计了滑模控制器并分析了角速度和姿态的渐进稳定性．由Lyapunov直接法找出了各个滑模系数取值的充分条件，并通过数值仿真实验验证了滑模控制方法的有效性．

简介：Thispaperproposesanewasymptoticattitudetrackingcontrollerforanunderactuated3-degree-of-freedom（DOF）laboratoryhelicoptersystembyusinganonlinearrobustfeedbackandaneuralnetwork（NN）feedforwardterm.Thenonlinearrobustcontrollawisdevelopedthroughamodifiedinner-outerloopapproach.TheapplicationoftheNN-basedfeedforwardistocompensateforthesystemuncertainties.Theproposedcontroldesignstrategyrequiresverylimitedknowledgeofthesystemdynamicmodel,andachievesgoodrobustnesswithrespecttosystemparametricuncertainties.ALyapunov-basedstabilityanalysisshowsthattheproposedalgorithmscanensureasymptotictrackingofthehelicopter＇selevationandtravelmotion,whilekeepingthestabilityoftheclosed-loopsystem.Real-timeexperimentresultsdemonstratethatthecontrollerhasachievedgoodtrackingperformance.