Synchronization of Chaotic Gyros Based on Robust Nonlinear Dynamic Inversion

[摘要] A robust nonlinear dynamic inversion (RNDI) technique is proposed in order to synchronize the behaviorof chaotic gyros subjected to uncertainties such as model mismatches and disturbances. Gyro is a crucial device thatmeasures and maintains the orientation of a vehicle. By Leipnik and Newton in 1981, chaotic behavior of a gyro under specificconditions was established. Hence, controlling and synchronizing a gyro that shows irregular (chaotic) motion arevery important. The proposed synchronization method is based on nonlinear dynamic inversion (NDI) control. NDIis a nonlinear control technique that removes the original system dynamics into the user-defined desired dynamics. Since NDI removes the original dynamics directly, it does not need linearizing and designing gain-scheduledcontrollers for each equilibrium point. However, achieving perfect cancellation of the original nonlinear dynamicsis impossible in real applications due to model uncertainties and disturbances. This paper proposes the robustnessassurance method of NDI based on sliding mode control (SMC). Firstly, similarities of the conventional NDI controland SMC are provided. And then the RNDI control technique is proposed. The feasibility and effectiveness of theproposed method are demonstrated by numerical simulations.

[学科分类] 应用数学