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一类新的二阶滑模控制方法及其在倒立摆控制中的应用
引用本文:李雪冰,马莉,丁世宏.一类新的二阶滑模控制方法及其在倒立摆控制中的应用[J].自动化学报,2015,41(1):193-202.
作者姓名:李雪冰  马莉  丁世宏
作者单位:1.江苏大学电气信息工程学院 镇江 212013
基金项目:国家自然科学基金,江苏省高校优势学科建设工程资助项目(PAPD;苏政办发,江苏省自然科学基金(BK2012283)资助Supported by National Natural Science Foundation of China,the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD
摘    要:二阶滑模作为高阶滑模的特殊情形, 不仅具有传统滑模鲁棒性强、对外界干扰不敏感的特点, 而且能够有效地消弱传统一阶滑模中存在的"抖振"现象. 本文设计了一种新的二阶滑模控制算法. 该算法的优点是假设不确定性是由非负函数限制而不是由常数限定. 因此, 该算法在实际应用中具有更广的应用范围. 此外, 算法中的加幂积分技术保证了系统在有限时间内稳定, 而不是传统二阶滑模中普遍存在的有限时间收敛, 并给出了严格的数学证明. 最后, 在倒立摆控制中的应用验证了该算法的有效性.

关 键 词:二阶滑模    有限时间稳定    加幂积分    倒立摆
收稿时间:2014-04-16

A New Second-order Sliding Mode Control and Its Application to Inverted Pendulum
LI Xue-Bing,MA Li,DING Shi-Hong.A New Second-order Sliding Mode Control and Its Application to Inverted Pendulum[J].Acta Automatica Sinica,2015,41(1):193-202.
Authors:LI Xue-Bing  MA Li  DING Shi-Hong
Affiliation:1.School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013
Abstract:Second-order sliding mode, as a special case of high-order sliding mode, not only has strong robustness and insensitiveness to external disturbance, but also eliminates the chattering phenomenon existing in the traditional first-order sliding mode. A new second-order sliding mode control algorithm is developed in this paper. The advantage of the algorithm lies in that it can be used to handle the uncertainty bounded by a known positive function rather than a positive constant. Consequently, the algorithm can be applied to a more general class of systems. In addition, the adding a power integrator technique guarantees the global finite-time stability rather than the finite-time convergence. Finally, the application to control of an inverted pendulum shows the effectiveness of the algorithm.
Keywords:Second-order sliding mode  finite-time stability  adding a power integrator  invented pendulum
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