不确定系统鲁棒自适应离散变结构控制

研究不确定系统的离散变结构控制设计问题.对离散趋近律方法进行分析, 提出一种基于鲁棒趋近律的自适应切换增益算法,能根据不确定因素对系统影响的强弱自动调整增益大小. 给出了闭环系统的鲁棒稳定性证明,并对其准滑模运动进行分析.理论分析与仿真研究结果均表明, 所提方法能有效减弱抖振,较好地改善离散变结构控制器的性能, 并解除了传统上确界方法要求不确定因素上确界可知的限制.

Robust Adaptive Discrete-time VariableStructure Control of Uncertain Systems

The question of discrete-time variable structure controller design for uncertain systems is researched based on the reaching law approach. An adaptive switching gain which can be automatically tuned according to system uncertainties is designed and the robust stability of the closed-loop system, as well as its quasi-sliding mode motion, is discussed. Theoretic analysis and simulation results show that the proposed method can decrease the chattering and improve the performance of discrete variable structure controller effectively. Also, the limitation for the convention design method, which requires the boundary of system uncertainties be known, is dismissed in the proposed method.