| 多输入不确定系统的平滑非奇异终端滑模控制 |
| |
| 引用本文： | 王艳敏 冯勇 夏红伟 申立群. 多输入不确定系统的平滑非奇异终端滑模控制[J]. 控制与决策, 2015, 30(1): 161-165. DOI: 10.13195/j.kzyjc.2013.1370 |
| |
| 作者姓名： | 王艳敏 冯勇 夏红伟 申立群 |
| |
| 作者单位： | 哈尔滨工业大学a. 电气工程及自动化学院，b. 航天学院，哈尔滨150001. |
| |
| 基金项目： | 国家自然科学基金项目(51307035,61304108);高等学校博士学科点专项科研基金项目(20122302120012);中国博士后科学基金项目(2013M541377);中央高校基本科研业务费专项基金项目(2014015,2012016);国家留学基金委项目(201206125054) |
| |
| 摘 要： | 研究多输入通道的参数摄动和外部扰动对控制系统输入输出和内部状态稳定性的影响. 采用两次模型变换实现输入输出和内部状态解耦, 运用Lyapunov 稳定定理建立系统收敛区域与不确定项范围的数学关系. 提出一种平滑非奇异终端滑模控制方法, 引入虚拟控制项以增加系统的相对阶, 利用鲁棒微分器合理提取微分信号, 实现系统的无抖振滑模控制. 仿真研究表明了所提出方法的有效性.
|
| 关 键 词： | 非奇异终端滑模控制 多输入控制系统 稳定性 抖振 |
| 收稿时间： | 2013-10-07 |
| 修稿时间： | 2014-04-01 |
Smooth nonsingular terminal sliding mode control of uncertain multiinput systems |
| |
| WANG Yan-min FENG Yong XIA Hong-wei SHEN Li-qun. Smooth nonsingular terminal sliding mode control of uncertain multiinput systems[J]. Control and Decision, 2015, 30(1): 161-165. DOI: 10.13195/j.kzyjc.2013.1370 |
| |
| Authors: | WANG Yan-min FENG Yong XIA Hong-wei SHEN Li-qun |
| |
| Affiliation: | a. School of Electrical Engineering and Automation，b. School of Astronautics，Harbin Institute of Technology, Harbin 150001，China． |
| |
| Abstract: | The stability of input-output and internal states of multi-input systems with parameter perturbations and external disturbance is investigated. Two model transformations are adopted to realize the decomposition of input-output and internal states. By using the Lyapunov stability theory, the mathematical relationship between the convergence region and the uncertainties is formulated. A smooth nonsingular terminal sliding mode control method is proposed. The virtual control item is introduced to increase the relative order, and the robust differentiator is used to get derivative, so that the free-chattering sliding mode control is realized. Simulation results show the effectiveness of the proposed method. |
| |
| Keywords: | nonsingular terminal sliding mode control multi-input control system stability chattering |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
| 点击此处可从《控制与决策》浏览原始摘要信息 |
|
点击此处可从《控制与决策》下载全文 |
