有限时间收敛的Terminal滑模控制设计

讨论了一类SISO非线性系统的滑模变结构控制有限时间收敛问题,提出一种新的Terminal滑动模态及相应控制的设计方法,可用于带有外部扰动的二阶非线性系统。研究结果表明,系统状态在滑模面上能以较快的速度达到平衡点,在滑模面上到达平衡点的时间均是有限的,并且与普通的Terminal滑模相比,在滑模面上能以更短的时间到达平衡点。仿真结果表明了所提方法的有效性。

Terminal Sliding Mode Control Design with Finite-time Convergence

A finite-time convergence of Terminal sliding mode(TSM)control for a class of SISO nonlinear systems is presented.A design method of terminal sliding surface and control is proposed for the second order nonlinear dynamic systems with external disturbance.It is shown that the system state variables can be driven into each sliding surface and reach the equilibrium point from any point in the sliding mode surface in finite time.Compared with the general terminal sliding mode,it can reach the equilibrium point in shorter time in the sliding mode surface.Simulation results show the validity of the theoretical analysis.