摘要
针对一类存在状态时滞的不确定性系统,研究了全滑模控制器的设计问题。为了加强和改善系统的稳定性,提出了一种构造积分滑模面的新方法,在传统积分滑模面的基础上增加时滞补偿项,使得整个响应过程对于满足匹配条件的不确定性具有完全的鲁棒性,能够消除趋近阶段,实现全滑模控制。系统地给出了全滑模控制器的设计过程,采用线性矩阵不等式(LMI)方法,给出并证明了滑动模态渐近稳定的充分条件。设计的滑模控制律保证了滑模的存在并能有效地克服不确定性的影响,从而实现了全局鲁棒滑模控制。对所提出的控制算法进行了数值仿真,结果表明了该方法的有效性和可行性。
The problem of designing global sliding mode controllers（GSMC） for a class of uncertain linear systems with state time-delay is considered.A new type of integral sliding mode surface is proposed by adding a timedelay compensating term to the traditional integral sliding mode surface,and the system exhibits global robustness to the uncertainties which satisfy the matching conditions during the entire response of the system.The sliding mode controller design process is presented systematically.In terms of LMI,a sufficient condition that guarantees the asymptotic stability of the sliding mode is derived.A robust control law is designed to ensure the existence of a sliding mode and to overcome the effects of the uncertainties.The global robust sliding mode control is realized.The effectiveness of the proposed method is demonstrated by simulation study.
出处
《计算机仿真》
CSCD
北大核心
2010年第11期159-161,225,共4页
Computer Simulation
基金
国家自然基金(60940018)
青岛科技大学人才启动基金(0022330)
关键词
时滞系统
不确定性系统
滑模控制
Time-delay systems
Uncertain systems
Sliding mode control
