一類3階非線性系統(tǒng)的非奇異終端滑模控制
發(fā)布時間：2018-07-29 19:38
【摘要】：針對傳統(tǒng)非奇異終端滑�？刂品椒ú贿m用于3階系統(tǒng)的問題,提出一類具有不確定和外干擾的3階非線性系統(tǒng)的新型非奇異終端滑模控制方法.該方案首先結合backstepping控制中的動態(tài)面方法和傳統(tǒng)2階非奇異終端滑�？刂茦嬙旆瞧娈�3階終端滑模面,首次提出采用高階滑模微分器估計值代替控制器中的負指數(shù)項.采用非線性干擾觀測器任意精度地估計不確定和干擾,設計控制器中的補償項.采用終端吸引子函數(shù)做趨近律避免抖振的同時能保證有限時間趨近滑模面.基于有限時間穩(wěn)定李雅普諾夫定理證明了被控狀態(tài)將在有限時間內(nèi)收斂到任意小的閉球內(nèi).所提出方案快于傳統(tǒng)的遞階線性滑�？刂坪推渌瞧娈惤K端滑�？刂�.仿真中與其他滑模控制方案對比,總誤差減小18%以上,超調(diào)及收斂時間也顯著下降.
[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.
【作者單位】： 成都信息工程大學控制工程學院;
【基金】：成都信息工程大學科研基金項目(KYTZ201636)資助~~
【分類號】：TP273
本文編號：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.
【作者單位】： 成都信息工程大學控制工程學院;
【基金】：成都信息工程大學科研基金項目(KYTZ201636)資助~~
【分類號】：TP273
【相似文獻】
相關期刊論文 前2條
1 王峰;;非奇異H-矩陣的判定及其在神經(jīng)網(wǎng)絡系統(tǒng)中的應用[J];江南大學學報(自然科學版);2012年01期
2 胡立坤;馬文光;趙鵬飛;盧子廣;;六自由度機械臂的非奇異快速終端滑�？刂芠J];吉林大學學報(工學版);2014年03期
，本文編號：2153775
本文鏈接：http://sikaile.net/kejilunwen/zidonghuakongzhilunwen/2153775.html
最近更新
教材專著
