摘要
研究非线性仿射系统的高阶滑模控制问题 .通过适当的输入及非线性状态变换将系统分解为一个关于切换变量及其高阶导数的低阶线性子系统和一个关于滑模的低阶非线性子系统 ,进而给出了其高阶滑模控制器的设计方法 .最后 ,对两轮驱动的非完整移动机器人进行了数值仿真 。
This paper addresses the high order sliding mode control problem of nonlinear affine systems. By proper input and nonlinear state transformations, the system is first decomposed into two low dimensional subsystems: the linear subsystem involves the switching functions and related derivatives, and the nonlinear subsystem describes the sliding mode motion. A high order sliding mode control law is then developed to achieve high order sliding mode motion with prescribed dynamics. Finally, numerical simulations are performed for the posture model of a two wheel driven nonholonomic mobile robot, and the results show that the proposed approach has considerable potentialities to lessen the chattering of sliding mode control systems.
出处
《自动化学报》
EI
CSCD
北大核心
2002年第2期284-289,共6页
Acta Automatica Sinica
基金
"八六三"高技术研究发展计划智能机器人主题资助 (980 5 -1 9)
国家自然科学基金(699740 1 5 )
广东省科学基金(990 5 83 )
广东省教育厅资助
关键词
非线性仿射控制系统
高阶滑模控制
数值仿真
Nonlinear systems, sliding mode control, sliding order, nonholonomic robot
