共查询到20条相似文献,搜索用时 807 毫秒
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一类新的二阶滑模控制方法及其在倒立摆控制中的应用 总被引:4,自引:1,他引:3
二阶滑模作为高阶滑模的特殊情形, 不仅具有传统滑模鲁棒性强、对外界干扰不敏感的特点, 而且能够有效地消弱传统一阶滑模中存在的"抖振"现象. 本文设计了一种新的二阶滑模控制算法. 该算法的优点是假设不确定性是由非负函数限制而不是由常数限定. 因此, 该算法在实际应用中具有更广的应用范围. 此外, 算法中的加幂积分技术保证了系统在有限时间内稳定, 而不是传统二阶滑模中普遍存在的有限时间收敛, 并给出了严格的数学证明. 最后, 在倒立摆控制中的应用验证了该算法的有效性. 相似文献
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本文针对受多源干扰和舵面故障影响的飞翼无人机系统姿态跟踪控制问题进行研究, 提出了一种基于高阶滑模观测器的复合连续非奇异终端滑模主动抗干扰容错控制算法, 在实现姿态跟踪误差有限时间收敛的同时, 保证了控制量的连续. 并且针对控制力矩的具体实现问题, 结合飞翼无人机气动舵面冗余特性, 给出了基于加权伪逆算法的舵面分配方案, 该方案在满足舵面约束的情况下, 保证了舵面偏转角度的最优. 仿真结果表明, 所提控制方案显著提升了飞翼无人机姿态跟踪精度和跟踪误差的收敛速度, 并且保证了所有舵面满足偏角约束. 相似文献
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Chian-Song Chiu 《Automatica》2012,48(2):316-326
This paper presents derivative and integral terminal sliding mode control (TSMC) for a class of MIMO nonlinear systems in a unified viewpoint. First, integral TSMC is developed for robust output tracking of uncertain relative-degree-one systems by introducing sign and fractional integral terminal sliding modes. Next, by combining derivative and integral terminal sliding modes in a recursive structure, two derivative-integral terminal sliding mode control (DI-TMSC) methods are proposed to achieve exact or approximate finite-time convergence for the output tracking of higher order nonlinear systems. Different from traditional TSMC, this paper accomplishes finite convergence time for more general high-order MIMO systems and avoids the singular problem in the controller design. Furthermore, the control system is forced to start on the terminal sliding hyperplane, so that the reaching time of the sliding modes is eliminated. In other words, the transient response is improved under more relaxed stability conditions. Finally, several numerical simulations and experiments show the expected control performance. 相似文献
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统一混沌同步系统的高阶滑模控制研究 总被引:1,自引:1,他引:0
研究了一类具有匹配不确定性和外部扰动的统一混沌系统.通过对误差系统进行滑模变结构控制,实现了统一混沌系统的同步,并且利用滑模控制的特点,保证了同步系统的鲁棒性.当使用传统的趋近律方式的控制率时,系统往往会产生高频抖振,控制器在实际应用中得不到良好的效果.针对这一问题,利用高阶滑模的控制率,在保证系统鲁棒性的基础上,有效... 相似文献
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为了使移动机器人获得高精度和快速收敛的跟踪性能,设计一种基于积分终端滑模和滑模观测器的轨迹跟踪控制方法.首先,考虑到移动机器人在实际运动过程中会受到地面湿滑、摩擦等原因引起的侧滑扰动的影响,建立其在该扰动影响下的运动学模型;然后,利用该动态模型设计滑模观测器来估计系统受到的扰动;接着,将估计的扰动值前馈至反馈控制器,用来抑制扰动对系统控制性能的影响,从而达到削弱抖振的目的;同时,基于跟踪误差设计积分终端滑模面,并结合滑模面和扰动估计设计新型积分终端滑模控制器;最后,基于Lyapunov稳定性理论对整个闭环系统进行稳定性分析.仿真实验结果表明,所设计的控制器具有更高的跟踪精度和更强的鲁棒性. 相似文献
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Liang Wang Yongzhi Sheng Xiangdong Liu 《International Journal of Control, Automation and Systems》2014,12(3):459-472
This paper presents an adaptive high-order sliding mode control scheme targeting for uncertain minimum phase nonlinear single-input-single-output (SISO) systems, which can be equivalently formulated as the finite-time stabilization of high-order input-output dynamics subject to the uncertainties of parameters such as a chain of integrators. The proposed controller is derived from the concept of integral sliding mode and consists of two parts, one part of which achieves the finite-time stabilization of the high-order input-output dynamics without uncertainties by solving a finite-horizon optimal control problem with a free-final-state. The other part adopts the adaptive sliding mode control technique considering the practical bounded uncertainties, by which a modified switching gain adaptation algorithm is developed so that the on-line switching gain selection can be executed and the upper bounds of the uncertainties are not requisite in advance. As a result, a high-order sliding mode is established, ensuring the sliding variables and its high-order derivatives converge to an arbitrarily small vicinity of the origin in finite time. Therefore, the proposed controller achieves fixed convergence time and further improves strong robustness against bounded uncertainties with lower chattering and the easy implementation. Simulation results are presented in detail to verify the effectiveness and feasibility of the proposed algorithm. 相似文献
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针对传统非奇异终端滑模控制方法不适用于3阶系统的问题,提出一类具有不确定和外干扰的3阶非线性系统的新型非奇异终端滑模控制方法.该方案首先结合backstepping控制中的动态面方法和传统2阶非奇异终端滑模控制构造非奇异3阶终端滑模面,首次提出采用高阶滑模微分器估计值代替控制器中的负指数项.采用非线性干扰观测器任意精度地估计不确定和干扰,设计控制器中的补偿项.采用终端吸引子函数做趋近律避免抖振的同时能保证有限时间趋近滑模面.基于有限时间稳定李雅普诺夫定理证明了被控状态将在有限时间内收敛到任意小的闭球内.所提出方案快于传统的递阶线性滑模控制和其他非奇异终端滑模控制.仿真中与其他滑模控制方案对比,总误差减小18%以上,超调及收敛时间也显著下降. 相似文献
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基于扰动观测器的不确定非线性系统非奇异终端滑模控制 总被引:1,自引:0,他引:1
针对一类SISO 非线性不确定系统, 提出一种基于扰动观测器的非奇异终端滑模(NTSM) 控制策略. 在保证控制器非奇异性的情况下, 设计了一种改进的NTSM函数, 理论分析证明了到达滑模面的时间小于传统NTSM控制算法的到达时间. 同时为了消除系统扰动量对控制器抖振的影响, 设计了一种线性扰动观测器以降低滑模切换项的增益, 并采用Sigmoid 函数来替代传统的符号函数. 仿真结果表明了所得结论的正确性和有效性. 相似文献
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In order to reduce the convergence time of permanent magnet linear synchronous motor (PMLSM) and improve the robustness of system, a fixed-time fractional order nonsingular terminal sliding mode control (FTFONTSMC) strategy is designed to realize the rapidity and accuracy of PMLSM position tracking response. Firstly, an improved fixed-time terminal sliding mode (FTTSM) reaching law is proposed to reduce the time of convergence. Secondly, due to the uncertainty of the disturbance in PMLSM system, an exponential convergent disturbance observer (DO) is designed to observe the disturbance. Further, finite time stability of the control system is proved by Lyapunov stability theory. Finally, the above control algorithm is applied to PMLSM, and the proposed control method's effectiveness and superiority are validated by comparing with existing control methods. 相似文献
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Fast smooth second-order sliding mode control for stochastic systems with enumerable coloured noises
Peng-fei Yang Yang-wang Fang You-li Wu Dan-xu Zhang Yang Xu 《International journal of systems science》2018,49(2):312-323
A fast smooth second-order sliding mode control is presented for a class of stochastic systems driven by enumerable Ornstein–Uhlenbeck coloured noises with time-varying coefficients. Instead of treating the noise as bounded disturbance, the stochastic control techniques are incorporated into the design of the control. The finite-time mean-square practical stability and finite-time mean-square practical reachability are first introduced. Then the prescribed sliding variable dynamic is presented. The sufficient condition guaranteeing its finite-time convergence is given and proved using stochastic Lyapunov-like techniques. The proposed sliding mode controller is applied to a second-order nonlinear stochastic system. Simulation results are given comparing with smooth second-order sliding mode control to validate the analysis. 相似文献
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Zhankui Song Hongxing Li 《International Journal of Control, Automation and Systems》2013,11(2):416-421
In this paper, a backstepping second-order sliding mode control scheme (BSOSMC) is proposed for suppressing both flutter and limit cycle oscillation in the aeroelastic system. The proposed control scheme combining the sliding mode control and backstepping technique, which obtain the properties of fast response and improve the control accuracy. To obtain a better disturbance rejection property, we employ compensated control term. The compensated control term provides the complete compensation of the uncertainty and disturbance, and it relax the requirement of the bound of uncertainty and disturbance. The convergence and stability of the proposed control scheme are proved by using Lyapunov’s method. Finally, the simulation results demonstrate the effectiveness of the proposed control scheme. 相似文献
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Longyu Xu Yong Chen Meng Li Longjie Zhang Gafary Mahmoud 《Asian journal of control》2023,25(4):3092-3104
This paper studies the speed tracking control of networked control systems (NCSs) with external disturbance and false data injection (FDI) attacks. First, the system model with external disturbances and FDI attacks is built. Then, an extended observer based on discrete time sliding function and neural network (NN) is proposed to observe the extended states and suppress the effect of external disturbance and FDI attacks. Furthermore, a novel hybrid discrete-time sliding mode control (HDSMC) strategy combining discrete time sliding mode control with super-twisting control is designed to perform closed-loop control of the system, in which the exponential term and nonlinear term are constructed to restrain the jitters. The convergence and reachability of the sliding motion are proofed. Finally, the validity and feasibility of the proposed methods are proved by simulations and experiments. 相似文献
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We propose a robust scheme to achieve the synchronization of chaotic systems with modeling mismatches and parametric variations. The proposed algorithm combines high-order sliding mode and feedback control. The sliding mode is used to estimate the synchronization error between the master and the slave as well as its time derivatives, while feedback control is used to drive the slave track the master. The stability of the proposed design is proved theoretically, and its performance is verified by some numerical simulations. Compared with some existing synchronization algorithms, the proposed algorithm shows faster convergence and stronger robustness to system uncertainties. 相似文献