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研究离散准滑动模态的鲁棒性恢复和抖振削弱问题.针对一类同时含有匹配建模误差和非匹配外界干扰不确定离散系统,设计一种基于解耦干扰补偿器的鲁棒准滑模控制方案.为保证系统的鲁棒性,针对非匹配外界干扰设计一种改进的解耦干扰补偿器,估计误差有界收敛.通过引入幂次函数设计鲁棒离散准滑模控制器,消除系统抖振,给出切换函数准滑模带,并证明了闭环系统离散准滑动模态的稳定可达性.最后通过仿真验证了所提出控制方案的有效性.
To study robustness restoration and chattering reduction of discrete quasi-sliding modes, a robust quasi-slip system based on decoupled disturbance compensators is proposed for a class of uncertain discrete systems with matching modeling errors and unmatched external disturbances In order to ensure the robustness of the system, an improved decoupling disturbance compensator is designed for non-matching external disturbances, and the estimation error is boundedly converged. By introducing a power function to design a robust discrete quasi-sliding mode controller, The chattering of the system is given, and the quasi-sliding mode band of the switching function is given, and the stable accessibility of the discrete quasi-sliding mode of the closed-loop system is proved. Finally, the effectiveness of the proposed control scheme is verified by simulation.