不确定Delta算子系统的滑模软切换控制

针对一类带有内部参数摄动和外部扰动的快速采样控制系统,基于sigmoid函数提出了一种Delta算子S-变速趋近律方法,并设计了不确定Delta算子系统的滑模软切换控制器。基于Delta算子采样原理,将连续时间系统和离散时间系统的软切换控制器设计统一到Delta算子系统。基于Delta算子S-变速趋近律方法设计的闭环快速采样滑模软切换控制器能够在限制时刻内到达切换面,削弱了系统颤振。从仿真实例可以看出,该滑模软切换控制器的稳定性和平稳性优于传统指数趋近律情形,整个动态过程具有良好的完全鲁棒性。

Soft Switching Control for Uncertain Delta Operator Systems Based on Sliding Mode

Aiming at high speed sampling control systems with internal parameter perturbation and external disturbance,a novel Delta operator reaching law method,called S-type variable rate reaching law,was concerned based on sigmoid function,and a soft switching control for uncertain Delta operator systems was proposed based on sliding mode.Soft switching controller for continuous time systems and discrete-time systems can be unified into those of Delta operator systems via the principle of Delta operator sampling.The closed loop-string high speed sampling soft switching controller design based on sliding mode via Delta operator S-variable rate reaching law can reach the scope of the switching plane in limited moment,and reduce system flutter effectively.The simulation results demonstrate that the stability and process steady of the proposed controller are better than those of conventional exponential reaching law method,and the controller has a good completely robustness in entire dynamic process.