含有非匹配干扰和未知动态的非仿射系统滑模控制算法

针对含有非匹配干扰和未知动态的非仿射系统控制问题,提出了一种基于扩张状态观测器(ESO)的改进滑模控制(SMC)方案.本文首先利用扩张状态观测器,将原系统转变为一个包含干扰的二阶积分级联系统,使含有未知动态的非仿射系统控制器设计问题转化为二阶积分级联系统的控制器设计问题,从而使得控制器在设计过程中不需要对对象模型完全已...

Sliding mode control for unknown non-affine system with mismatched disturbances

A sliding mode control (SMC) scheme based on the extended state observer (ESO) is proposed for unknownnon-affine systems with mismatched disturbances. By using the extended state observer, the original system is transformedinto a second-order integral series system with disturbance, and the problem of control design for the non-affine system withunknown dynamics and disturbances is transformed into that of an integral series system. Therefore, it is not necessary tocompletely know the model during the control design. Firstly, a modication with the prescribed performance function (PPF)is introduced into ESO design for improving the transient performance of the ESO. In the design, the PPF guarantees thebound of the estimation error and suppresses the oscillation and overshoot in the response process. Then, a sliding surfacewith a correction term is proposed to reduce the influence of mismatched disturbances caused by ESO estimation error,and improve the tracking speed and accuracy of the control scheme. Finally, the simulation results show that the proposedESO converges faster and the oscillations are significantly suppressed. The improved SMC can deal with mismatcheddisturbances and has a faster convergence speed and higher tracking accuracy.