一类3阶非线性系统的非奇异终端滑模控制
发布时间：2018-07-29 19:38
【摘要】：针对传统非奇异终端滑模控制方法不适用于3阶系统的问题,提出一类具有不确定和外干扰的3阶非线性系统的新型非奇异终端滑模控制方法.该方案首先结合backstepping控制中的动态面方法和传统2阶非奇异终端滑模控制构造非奇异3阶终端滑模面,首次提出采用高阶滑模微分器估计值代替控制器中的负指数项.采用非线性干扰观测器任意精度地估计不确定和干扰,设计控制器中的补偿项.采用终端吸引子函数做趋近律避免抖振的同时能保证有限时间趋近滑模面.基于有限时间稳定李雅普诺夫定理证明了被控状态将在有限时间内收敛到任意小的闭球内.所提出方案快于传统的递阶线性滑模控制和其他非奇异终端滑模控制.仿真中与其他滑模控制方案对比,总误差减小18%以上,超调及收敛时间也显著下降.
[Abstract]:A novel nonsingular terminal sliding mode control method for a class of third-order nonlinear systems with uncertainties and external disturbances is proposed in order to solve the problem that the traditional non-singular terminal sliding mode control method is not suitable for third-order systems. In this scheme, the non-singular third-order terminal sliding mode surface is constructed by combining the dynamic surface method of backstepping control with the traditional second-order nonsingular terminal sliding mode control, and the high-order sliding mode differentiator is proposed to replace the negative exponent term in the controller for the first time. The nonlinear disturbance observer is used to estimate the uncertainty and disturbance with arbitrary precision, and the compensation term in the controller is designed. The terminal attractor function is used as the approach law to avoid buffeting while ensuring the finite-time approach to the sliding mode surface. Based on the finite time stable Lyapunov theorem, it is proved that the controlled state will converge to any small closed sphere in finite time. The proposed scheme is faster than the traditional hierarchical linear sliding mode control and other nonsingular terminal sliding mode control. Compared with other sliding mode control schemes, the total error is reduced by more than 18%, and the overshoot and convergence time are also significantly decreased.
【作者单位】： 成都信息工程大学控制工程学院;
【基金】：成都信息工程大学科研基金项目(KYTZ201636)资助~~
【分类号】：TP273
本文编号：2153775
[Abstract]:A novel nonsingular terminal sliding mode control method for a class of third-order nonlinear systems with uncertainties and external disturbances is proposed in order to solve the problem that the traditional non-singular terminal sliding mode control method is not suitable for third-order systems. In this scheme, the non-singular third-order terminal sliding mode surface is constructed by combining the dynamic surface method of backstepping control with the traditional second-order nonsingular terminal sliding mode control, and the high-order sliding mode differentiator is proposed to replace the negative exponent term in the controller for the first time. The nonlinear disturbance observer is used to estimate the uncertainty and disturbance with arbitrary precision, and the compensation term in the controller is designed. The terminal attractor function is used as the approach law to avoid buffeting while ensuring the finite-time approach to the sliding mode surface. Based on the finite time stable Lyapunov theorem, it is proved that the controlled state will converge to any small closed sphere in finite time. The proposed scheme is faster than the traditional hierarchical linear sliding mode control and other nonsingular terminal sliding mode control. Compared with other sliding mode control schemes, the total error is reduced by more than 18%, and the overshoot and convergence time are also significantly decreased.
【作者单位】： 成都信息工程大学控制工程学院;
【基金】：成都信息工程大学科研基金项目(KYTZ201636)资助~~
【分类号】：TP273
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1 王峰;;非奇异H-矩阵的判定及其在神经网络系统中的应用[J];江南大学学报(自然科学版);2012年01期
2 胡立坤;马文光;赵鹏飞;卢子广;;六自由度机械臂的非奇异快速终端滑模控制[J];吉林大学学报(工学版);2014年03期
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