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本文对一般非线性控制系统,提出了一种模型到达控制的概念,作为模型跟踪控制的推广,为此,当模型与系统为同阶时,引入了动态补偿器,然后采用变结构控制(VSC)策略,来实现模型到达控制的目的,文中还研究了控制受限情况下的VSC,所提出的控制策略此时有很大的简化,最后讨论了滑动模态对摄动的自适应性,文中引用的趋近律为多输入情况提供简单的计算方法,也解决了VSC全过程的品质问题。
In this paper, we propose a concept of model arrival control as a generalization of model tracking control. For this reason, when the model and the system are of the same order, a dynamic compensator is introduced and then a variable structure control (VSC ) Strategy to achieve the purpose of model arrival control. In this paper, we also study the VSC under the control of the limited circumstances. The proposed control strategy is greatly simplified. Finally, the adaptability of sliding mode to perturbation is discussed. The referential law introduced in this paper provides a simple calculation method for multi-input cases and also solves the quality problems of the whole process of VSC.