基于非奇异快速终端滑模的磁控胶囊内窥镜姿态控制

何熊熊; 龚明睿; 欧县华

文章摘要

何熊熊,龚明睿,欧县华.基于非奇异快速终端滑模的磁控胶囊内窥镜姿态控制[J].高技术通讯(中文),2025,35(9):951~959

基于非奇异快速终端滑模的磁控胶囊内窥镜姿态控制

Attitude control of magnetically controlled capsule endoscopy based on non-singular fast terminal sliding mode

DOI：10. 3772 / j. issn. 1002-0470. 2025. 09. 004

中文关键词: 磁控胶囊内窥镜；非奇异快速终端滑模；扩张状态观测器；姿态控制；闭环稳定性

英文关键词: magnetically controlled capsule endoscopy, non-singular fast terminal sliding mode, extended state observer, attitude control, closed-loop stability

基金项目:

作者	单位
何熊熊	（浙江工业大学信息工程学院杭州 310023）
龚明睿
欧县华

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中文摘要:

针对磁控胶囊内窥镜姿态角度跟踪控制中存在的建模误差和外部扰动等不确定信息的问题，本文研究了一种带有扩张状态观测器的非奇异快速终端滑模控制方法。首先，综合考虑磁控胶囊内窥镜的系统结构，建立了简化的胶囊内窥镜动力学模型；其次，将控制过程中的不确定信息视为集总干扰，利用扩张状态观测器对其进行估计；然后，基于估计信息和改进的滑模控制算法，选取带有变系数的双幂次趋近律，构造非奇异快速终端滑模控制器；最后，构建 Lyapunov 函数证明胶囊内窥镜系统的闭环稳定性，并进行对比仿真实验。实验结果表明，本文所设计的控制器能有效提高系统的抗干扰能力和姿态角度追踪精度。

英文摘要:

Aiming at the problems of modeling error and external disturbance in the attitude angle tracking control of magnetically controlled capsule endoscopy, a non-singular fast terminal sliding mode control method with extended state observer is studied. Firstly, considering the system structure of magnetically controlled capsule endoscopy, a simplified capsule endoscopy kinetic model is established. Secondly, the uncertain information in the control process is regarded as lumped interference, and it is estimated by using the extended state observer. Then, based on the estimation information and the improved sliding mode control algorithm, a double-power approximation law with variable coefficient is selected to construct a non-singular fast terminal sliding mode controller. Finally, the Lyapunov function is constructed to prove the closed-loop stability of the capsule endoscopy system, and comparative simulation experiments are carried out. The results show that the controller designed in this paper can effectively improve the anti-interference ability and attitude angle tracking accuracy of the system.

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