防抱制动系统参数自适应滑模变结构控制器的研究

首先针对具有参数不确定性的二阶非线性系统提出了自适应滑模变结构的控制算法 ,该算法的基本思想是用自适应策略来估计不确定系统的参数 ,根据估计出的参数值 ,来设计滑模控制器 ,优点是无须事先已知不确定参数的边界 ,并且由于在自适应变结构控制采用了消颤措施 (增加了消颤项 ) ,能削弱常规滑模控制所引起的颤振现象 ,也能提高单纯的自适应控制的鲁棒性能。而后将这一控制策略应用于防抱死制动系统 (ABS)的研究中 ,设计了防抱死制动系统的自适应滑模变结构控制器 ,通过计算机仿真 ,验证了该控制方案在 ABS应用中的可行性和有效性

Research on Adaptive Sliding Mode Controller for Anti-lock Braking System(ABS)

In this paper, an adaptive sliding mode controller is presented for second order nonlinear systems with system parameter uncertainties. Using an adaptive technique to estimate uncertain system parameters, an adaptive sliding mode controller is then proposed to ensure that the sliding condition is maintained in finite time. The proposed adaptive sliding mode control scheme can be implemented without the requirement that the bounds of uncertain system parameters should be known in advance, and the drawback of control chattering occurred in the classical sliding mode control can be alleviated in the proposed control scheme because of importing eliminable chattering measures. Moreover, the robustness of adaptive control systems can be improved to some extent.With the above mentioned control strategy, an adaptive sliding mode controller for Anti lock Braking System(ABS) is designed. Simulation results show the effectiveness and feasibility of the proposed scheme.