带有指令滤波的板球系统反步滑模控制的研究

为解决滑模控制中出现的抖振现象影响板球系统轨迹跟踪控制性能的问题，提出了一种结合指令滤波的板球系统反步滑模控制方法。首先建立板球系统数学模型，根据系统误差方程设计总滑模控制规律。然后组建带有指令滤波的复合系统，设计误差反步控制器。最后利用Lyapunov理论证明了整个闭环系统的全局渐进稳定性。仿真结果表明，该方法有效的抑制抖振现象，进一步加强了抗干扰能力。

Research on Backstepping Sliding Mode Control for Ball and Plate System with Command Filter

In order to solve the problem that the chattering phenomenon in sliding mode control affects the trajectory tracking control performance of the ball and plate system, backstepping sliding mode control method combined with a command filter is proposed. Firstly, the mathematical model of the ball and plate system is established, and the general sliding mode control law is designed according to the system error equation. Secondly, a compound system with command filter is constructed and an error backstepping controller is designed. Finally, the global asymptotic stability of the whole closed-loop system is proved by Lyapunov theory. The simulation results show that this method can effectively suppress the chattering phenomenon and further strengthen the disturbance-rejection performance.