Intelligent maneuverable net shape keeping and controlling method

The invention relates to an intelligent maneuverable net shape keeping and controlling method. A dynamic model of an intelligent maneuverable net is established and can be arranged as a form facilitating design of a controller. Aiming at the problem of intelligent maneuverable net shape keeping, a sliding mode control algorithm composed of nominal control and compensation control is designed. Compared with other methods, a control law designed by the invention can enable the net shape of the intelligent maneuverable net to be effectively kept under the interference condition; and compared witha traditional sliding mode method, a compensation control law designed by the patent is a second-order sliding mode control law, and thus continuous control input and buffeting weakening can be achieved. 本发明涉及种智能飞网网型保持控制方法，建立了智能飞网的动力学模型，可将其整理为便于控制器设计的形式。针对智能飞网网型保持问题，设计了由名义控制和补偿控制组成的滑模控制算法。相比于其他方法，本发明所设计的控制律，可以在有干扰的情况下，使得智能飞网的网型得到有效保持；相比于传统滑模方法，本专利所设计的补偿控制律为二阶滑模控制律，可以实现连续控制输入并减弱抖振。