摘要
针对传统线性滑模和终端滑模中存在的抖振问题以及终端滑模难以克服的奇异问题,提出了全阶无抖振非奇异滑模控制方案。由于在滑模的控制过程中只用到了符号函数而非滑模本身,利用这个特性,设计了一种特殊的滑模。此种滑模利用连续的控制,实现理想的滑动运动;并且控制律避免了控制系统的奇异性;当系统状态到达滑模并处于理想的滑动运动时,系统表现为一个全阶动态系统而非降阶系统。仿真结果验证了提出的全阶终端滑模的无抖振及非奇异特性。
In the conventional sliding-mode control(SMC)systems,both the linear sliding mode(LSM)and terminal sliding mode(TSM)have chattering phenomena,especially for the TSM,the singular problem is serious,a full order chattering free non-singular TSM control strategy is proposed.Since only the sign function is used in the control of the sliding mode,rather than the sliding mode itself,a special sliding mode is designed using this property.This sliding mode uses continuous control to achieve ideal sliding motion;and the control law avoids the singularity of the control system;when the system state reaches the sliding mode and is in ideal sliding motion,the system behaves as a full-order dynamic system rather than a reduced-order system.The simulation results validate the chattering free and non-singular characteristics of the proposed chattering free full order TSM control.
作者
刘壮
郑雪梅
冯勇
李杨曼
LIU Zhuang;ZHENG Xue-mei;FENG Yong;LI Yang-man(School of Electrical Engineering and Automation,Harbin Institute of Technology,Harbin 150001,China)
出处
《控制工程》
CSCD
北大核心
2020年第5期824-829,共6页
Control Engineering of China
基金
国家自然科学基金(51577039)。
关键词
滑模控制
终端滑模
非奇异
李雅普诺夫稳定
Sliding mode control
terminal sliding-mode
non-singular
Lyapunov stability
