基于积分滑动流形的高阶滑模控制器设计

滑模变结构控制方法因其易实现,鲁棒性强等优点广泛应用于实际控制系统中,讨论了具有积分滑动流形的高阶滑模控制器的设计方法.通过设计含积分滑动流形的高阶滑模面,使系统状态在一阶乃至高阶滑模面上均能达到滑动模态.同时利用高阶滑模面为状态变量设计新的状态空间系统,将原先促使系统状态接近并停留在滑模面上的控制目标,拓展为使高阶滑模状态变量趋近于零的控制目标,并结合最优控制方法来设计等效控制量,利用积分流形设计切换控制的切换面,通过严格证明来证实控制器设计的稳定性.在仿真验证部分采用了一阶倒立摆模型,通过比较常规趋近律滑模控制方法和本文方法的仿真结果,可以得出本文方法在减小系统控制量抖振方面的重要作用和优异效果.

Design of High Order Sliding Mode Controller Based on Integral Sliding Manifold

Variable structure control with sliding mode is a control design method which is easy to be realized and with strong robustness.As a result,the method is widely used in the actual control systems.The design of a high order sliding mode controller with integral sliding mode is discussed,which can make the system states achieving the sliding mode on one order and higher order sliding modes.The controller inputs are acquired by a new state space system,with the purpose of driving the system states to remain in the higher order sliding mode,instead of the common used single order sliding mode.The equivalent part of control input is achieved by optimal control method,and the switch control uses integral sliding mode as switch surface.In simulation part,single order inverted pendulum model is used to demonstrate the proposed method.Through the comparison of traditional reaching law sliding mode control and the proposed method,it is proved that this method is more effective in reducing chattering of control actuators.