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针对不确定离散时间系统,研究其积分滑模(ISM)保性能控制的设计问题.将最优保性能积分滑模面设计问题,转化为一个具有线性矩阵不等式(LMI)约束的目标函数凸优化问题,给出了最优保性能积分滑模面存在的充分条件,并结合干扰估计器设计相应的保性能控制器.与传统滑模控制相比较,积分滑模保性能控制系统具有全阶滑动模态,系统的鲁棒性得到加强,消除了控制抖振和稳态抖振.仿真结果验证了该方法的有效性.
Aiming at the uncertain discrete-time system, the design problem of the ISM guaranteed cost control is studied. The optimal guaranteed integral slip surface design problem is transformed into a convex optimization of the objective function with the linear matrix inequality (LMI) constraint The sufficient conditions for the existence of the optimal guaranteed integral slip surface are given and the corresponding guaranteed controller is designed with the disturbance estimator.Compared with the traditional sliding mode control, the integral sliding mode guaranteed cost control system has full-order sliding Modal and system robustness are eliminated, and the control chattering and steady-state chattering are eliminated.The simulation results verify the effectiveness of the proposed method.