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根据多模态滑模概念,提出了一种快速非奇异终端滑模控制方法(FNTSM,Fast Nonsingular Terminal Sliding Mode),实现了非奇异终端滑模控制的全局快速收敛.多模态滑模通过设计分段切换函数,实现多个滑动模态.FNTSM的切换函数由线性滑模的切换函数和非奇异终端滑模的切换函数连接而成.当系统状态远离平衡点时,系统运行于线性滑动模态;当系统状态靠近平衡点时,系统运行于非奇异终端滑动模态.设计了切换型控制律,保证了系统的到达时间和滑动时间都是有限的.数值仿真表明:FNTSM控制与非奇异终端滑模控制、线性滑模控制相比具有快速性优点.
According to the concept of multi-modal sliding mode, a fast non-singular terminal sliding mode control (FNTSM) is proposed to achieve global fast convergence of non-singular terminal sliding mode control The function of the switch is realized by the function of the switch of the linear sliding mode and the switch function of the non-singular terminal sliding mode.When the state of the system is far away from the equilibrium point, the system runs on the linear sliding mode When the state of the system is close to the equilibrium point, the system operates in a non-singular terminal sliding mode. A switched control law is designed to ensure that the arrival time and the sliding time of the system are limited. Numerical simulations show that the FNTSM control is non- Terminal sliding mode control, linear sliding mode control has the advantages of rapidity.