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有限时间收敛的滑模自适应控制器设计
引用本文:赵占山,张静,孙连坤,丁刚.有限时间收敛的滑模自适应控制器设计[J].山东大学学报(工学版),2012,42(4):74-78.
作者姓名:赵占山  张静  孙连坤  丁刚
作者单位:1.天津工业大学计算机科学与软件学院, 天津 300387;2. 中国科学院软件研究所计算机科学国家重点实验室, 北京 100190;3. 天津职业大学设备与实验室管理处, 天津 300410
基金项目:国家自然科学基金资助项目(60970016)
摘    要:针对一类非线性不确定系统不确定边界未知但有界的情况,提出一种设计滑模自适应控制器算法。利用几何齐次性理论和积分滑模面设计了滑模自适应控制器,使其能够在有限时间内镇定,并设计相应自适应律估计控制增益,利用Lyapunov理论分析证明了闭环系统能在有限时间镇定。最后,仿真实例验证了所设计的滑模自适应控制器在不确定的情况下具有鲁棒性和自适应性。

关 键 词:滑模控制  有限时间稳定  几何齐次性  鲁棒性  自适应律  
收稿时间:2011-11-01

Design of self-adaptive sliding mode controller with finite time convergence
ZHAO Zhan-shan,ZHANG Jing,SUN Lian-kun,DING Gang.Design of self-adaptive sliding mode controller with finite time convergence[J].Journal of Shandong University of Technology,2012,42(4):74-78.
Authors:ZHAO Zhan-shan  ZHANG Jing  SUN Lian-kun  DING Gang
Affiliation:1. School of Computer Science and Software Engineering, Tianjin Polytechnic University, Tianjin 300387, China;2. State Key Laboratory of Computer Science, Institute of Software, Chinese Academy of Sciences, Beijing 100190,China; 3. Office of Equipment and Laboratory Management, Tianjin Vocational Institute, Tianjin 300410, China
Abstract:A new self-adaptive sliding mode controller algorithm was proposed for a class of uncertain nonlinear systems with unknown but bounded uncertainties.The proposed solution could stabilize the status of these systems in finite time by using geometric homogeneity and integral sliding mode control.In order to solve system uncertainties with unknown but bounded,the corresponding adaptation law was developed to evaluate the gain of the controller.The theoretic analysis based on Lyapunov theory proved that the systems with the proposed controller could be stabilized in finite time.Simulation results showed that the proposed adaptive sliding mode controller could achieve better robustness and adaptation against uncertainties.
Keywords:sliding mode control  finite time stability  geometric homogeneity  robustness  adaptive law
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