用于离散滑模重复控制的新型趋近律

针对不确定离散时间系统, 提出一种新型的离散趋近律, 构造理想切换动态, 并基于理想切换动态设计离散滑模重复控制器. 在消除系统颤振的同时, 完全抑制周期扰动带来的影响, 改善控制品质. 分别推导了切换函数的绝对收敛层、单调收敛层和拟滑模带的边界, 用于刻画在不同控制器参数下闭环系统的趋近过程和拟滑模运动. 数值仿真和在伺服装置上的实验结果证实了所提出控制方法的有效性.

Discrete Sliding Mode Repetitive Control with Novel Reaching Law

This paper is concerned with discrete-time sliding mode control of systems subject to periodic inputs and disturbances. A novel reaching law is proposed, and a design of discrete-time sliding mode repetitive controller is presented based on the ideal switching dynamics formed by the reaching law. The switching dynamics are required to avoid system chattering and achieve perfect tracking as the periodic disturbances are rejected completely. In order to characterize both the reaching phase and quasi-sliding mode, the attractive layer bound, monotone decreasing region, and quasi-sliding mode band of the switching dynamics are derived theoretically. Numerical simulation and experiment are carried out to verify the feasibility and effectiveness of the proposed control method.