一类带有加速度约束的非线性系统最优滑模控制

针对加速度受约束的非线性时变系统,设计了一种全局最优滑模控制算法.首先引入全程滑态因子,保证滑模面一开始就在零值附近,然后选取位置跟踪误差绝对值的积分为指标函数,通过求解该指标函数的最小值来确定滑模面方程的相关参数,最后设计了基于指数趋近律的滑模控制算法.仿真结果表明了该方法的有效性和强鲁棒性.

Optimal sliding-mode control for nonlinear systems subject to acceleration constraint

For nonlinear systems subject to acceleration constraint, a global optimal sliding-mode control algorithm is proposed. A global sliding-mode factor is introduced in the sliding surface design, which guarantees the sliding surface to exist in the neighborhood of the origin all the time after beginning. The parameters of the sliding surface are obtained by minimizing the integral of the absolute position tracking error which is taken as the performance criterion. The sliding-mode control algorithm is finally determined by using the exponential reaching law. Simulation results show the effectiveness and robustness of the proposed algorithm.