摘要
针对一类具有非匹配不确定的严格反馈非线性系统,基于动态面控制和二阶滑模控制设计方法,进行一种新颖的状态反馈控制器设计,实现了不确定系统任意小的跟踪误差。动态面控制类似于反演设计,但其包含一系列低通滤波器;低通滤波器允许控制对象数学模型不可微,这样就避免了反演设计所存在的"膨胀项",减少了计算量,易于实现。同时,由于引入二阶滑模控制,消除了传统滑模控制(一阶滑模控制)存在的抖振现象,既增强了控制系统的鲁棒性,又提高了系统的控制精度。
A dynamic surface second-order sliding mode controller for nonlinear cascade systems with mismatched disturbance is proposed. The method contains two techniques: dynamic surface control and second-order sliding mode control. This method can realize arbitrary small tracking error and robust control. Compared with the classical backstepping procedure, the dynamic surface control includes a set of low pass filters which allow the model not to be differentiated, and reduce the computation complexity, thus avoiding the problem of 'explosion of the term' that backstepping design suffers. The last step introduces second-order sliding mode control, which strengthens robustness of the system and improves its accuracy, meanwhile overcoming the inherent chattering of classical sliding mode control. The simulation results also prove this.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2004年第10期1468-1470,1522,共4页
Systems Engineering and Electronics
关键词
低通滤波器
动态面控制
二阶滑模
反演
low pass filter
dynamic surface control
second-order sliding mod
backstepping