非匹配不确定离散系统的无抖振积分滑模控制

针对一类非匹配不确定离散系统, 设计一种无抖振离散积分滑模控制器. 为了抑制非匹配不确定性对系统的影响, 采用线性矩阵不等式方法设计一种新型的切换函数和对应的滑模控制律, 并证明了闭环系统的Lyapunov 稳定性. 同时, 引入饱和函数设计控制器, 使系统状态在积分滑模面的某个小邻域内做准滑模运动, 并通过合理选择饱和函数的边界层厚度, 使控制信号不含任何抖振. 理论分析和数值仿真验证了所提出方法的有效性.

Chattering-free discrete time integral sliding-mode control for systems with unmatched uncertainties

A chattering-free integral sliding-mode control method is proposed for the discrete-time linear systems with unmatched uncertainties. Based on the linear matrix inequality(LMI) technique, a new switching function and a sliding- mode controller are proposed to minimize the effect of unmatched uncertainties, and the Lyapunov stability is proved. The saturation function is introduced to ensure that the system states move in a small neighborhood of the sliding surface as quasi-sliding motion. The boundary layer thickness of the saturation function is chosen to make sure the controller chattering-free with strong robustness. The results of theoretical analysis and simulation show the effectiveness of the proposed integral sliding-mode control scheme.