基于切换滑模控制的抖振抑制方法

针对一类复合干扰有界的不确定仿射非线性系统,提出一种切换滑模控制方法.首先利用3条滑模面将系统扩展动态空间划分为3个子空间,其中两个子空间组成滑动区,通过设计合适的切换规则和滑模切换增益,可以使滑动区满足到达条件和滑动条件,同时能够减小控制律不连续出现的区域和增益大小.为了增加设计的灵活性,给出一种可行设计方法.仿真实验结果表明,切换滑模控制方法在抑制抖振的同时具有较高的控制精度.

Chattering reduction method based on switched sliding mode control

In this paper, a switched sliding mode control(SSMC) method with three sliding surfaces is proposed for a class of uncertain affine nonlinear systems. The system extended dynamic space is divided into three subspaces by the three sliding surfaces. The sliding region consists of two subspaces. The sliding region satisfies the reaching condition and the sliding condition with appropriate switching rules and switching gains. By using SSMC, the control law is discontinuous only within a certain range near the origin while the switching gain of the control law is reduced. Such characteristic is beneficial to suppress the chattering phenomenon. For practical application, a feasible design method is also designed which can guarantee system states ultimately bounded stable. By adjusting the design parameters, the size of the ultimate bound can be adjusted. Simulation results show that SSMC has high control precision while suppressing chattering.