一种改进的滑模控制方法在非线性不确定系统中的应用

对传统滑模面设计方法进行了改进,引入滑模面斜率,将其应用于一类非线性不确定系统,并基于此设计滑模控制器,其控制目的是使非线性系统在存在不确定及干扰时,系统输出依然能够很好地跟踪参考输入,理论证明该设计方案是可行的。另外还对该系统进行了稳态误差计算,分析了滑模面斜率及边界层厚度对稳态误差的影响,通过理论计算与分析,找到了一种方便简单的减小误差的方法,同时还可更进一步抑制抖振,使系统具有更强的鲁棒性能。仿真实例表明,文中提出方法是正确有效的。

Improved Sliding Mode Control and Its Application in Nonlinear Uncertain Systems

An improved design method of sliding surface was proposed by introducing the slope of sliding surface,and it was applied to a class of nonlinear uncertain systems.On the basis,a sliding mode controller was designed.The control goal was that the output of the systems could trace reference input signal,as there existed uncertainty and disturbance in the systems.The above proposed design scheme was feasible by theoretical deduction.Then,the steady-state error was discussed for the class of systems.It was analyzed that steady-state was influenced because of the slope of sliding surface and the boundary layer thickness.A simple and convenient method that could reduce steady-state error and restrain chattering was found.It displays that the design method could make the class of systems have more powerful robustness.The simulation curves show that the proposed design scheme is correct and effective.