论文部分内容阅读
针对一类非线性不确定系统,分析已有终端滑模控制奇异、抖振和收敛缓慢的问题,首次将非奇异终端滑动切换函数和新型趋近律同时应用到滑模控制中,在非奇异终端滑模控制消除奇异值的前提下,引入基于幂次趋近律的新型趋近律,设计了新型非奇异终端滑模控制器并验证其稳定性.将其应用于倒立摆系统,解决了奇异问题,提高了系统状态远离滑模面时的趋近性能,缩短了收敛时间,同时削弱了抖振,表明了该方法的有效性.
For a class of nonlinear uncertain systems, this paper analyzes the problems of singularity, chattering and slow convergence of the existing terminal sliding mode control. For the first time, the sliding function of non-singular terminal and the new reaching law are applied to the sliding mode control at the same time. A new type of non-singular terminal sliding mode controller is designed and its stability is verified by introducing a new type of reaching law based on the power-law reaching law under the premise of terminal sliding mode control eliminating singular value.It is applied to inverted pendulum system to solve The singularity problem improves the approach performance when the system state is far away from the sliding mode surface, shortens the convergence time and weakens the chattering, which shows the effectiveness of the method.