反演滑模控制在倒立摆中的应用与仿真研究

应用滑模控制中的反演设计原理,以一级倒立摆为控制对象,设计了滑模控制器,使系统在响应的全过程都具有鲁棒性,克服了传统变结构控制中到达模态鲁棒性差的缺点,对该类非线性系统,提出了新的滑模控制器的设计方法。仿真结果表明,该方法成功地实现了对输入信号的位置随动控制,并通过与传统方法进行对比,验证了反演滑模控制具有较好的快速和稳定性能,同时也削弱了抖振的发生,实现了实时跟踪控制。

Application and Simulation Study of the Backstepping-sliding Mode-control on Pendulum

The sliding mode controller is designed to realize the track-control of the input signal based on the backstepping design theory of sliding mode control when inverted pendulum is controlled object.The backstepping-sliding mode-control permits robustness for the system over- all the response time,but the robusteness of the conventional backstepping-sliding mode-control system only resides in its sliding mode.The rapidness and stability of the backstepping-sliding mode-control is proved better than the other methods.And at the same time the backstepping- sliding mode-control can reduce the occurrence of shiver and realize the real-time track.