带有饱和的电机伺服系统非奇异终端滑模funnel控制

本文提出一种非奇异终端滑模funnel控制(NTSMFC)方法, 实现带有饱和输入电机伺服系统的指定性能跟踪控制. 根据中值定理, 非光滑饱和函数转化为放射形式, 并且应用一个简单的神经网络进行逼近和补偿. 为保证跟踪误差被限制在指定的界限内, 同时为避免构建复杂的barrier李雅普诺夫函数或逆函数, 本文采用一个新的限制变量. 然后, 构建非奇异终端滑模funnel控制器保证电机伺服系统的指定跟踪性能. 该方法无需事先已知输入饱和函数的界限等先验知识, 且基于李雅普诺夫函数设计可以保证位置跟踪误差的收敛性, 最后给出仿真对比实例证明了该方法的有效性.

Nonsingular terminal sliding-mode funnel control for prescribed performance of motor servo systems with unknown input saturation

A nonsingular terminal sliding-mode funnel control (NTSMFC) scheme is proposed for tracking the prescribed performance of motor servo systems with unknown input saturation. Based on the mean-value theorem, the nonsmooth saturation is transformed into a smooth affine function, and then is approximated and compensated by using a simple sigmoid neural network. Rather than constructing the complex barrier Lyapunov function or inversely transformed function, we employed a new constraint variable to force the tracking error to fall into prescribe boundaries. Then, a nonsingular terminal sliding-mode funnel control is developed for tracking the prescribed performance of the motor servo system. With the proposed scheme, no prior knowledge is required on the bound of input saturation, and the convergence of the position tracking error is guaranteed via the Lyapunov synthesis. Comparison simulation examples are given to illustrate the effectiveness of the proposed method.