积分补偿的滑模控制器设计方法(英文)

The Design Method of Sliding Mode Controller with Integral Compensation

对于一类具有不确定性扰动的非线性系统,提出了一种积分补偿的滑模控制器设计方法。为消除抖动现象,在切换面的邻近设置一边界层,在边界层外部,采用滑模控制方法驱动系统状态进入边界层。在边界层内部,在传统连续控制的基础上,引入积分补偿作用,以改善系统的稳态性能。对控制系统的稳定性进行了分析,并以倒立摆为对象进行了仿真验证,结果表明该控制方法是有效的。

A design method of sliding mode controller with integral compensation is proposed for a class of nonlinear systems with uncertain in disturbances. To eliminate chattering in sliding mode control, a boundary layer around the switch surface is used. Within the boundary layer, the conventional continuous control and the integral control that is used to improve the system performance in steady-state are applied. Outside the boundary, the sliding mode control is applied to drive the system states into the boundary layer. The control system stability is analyzed, and the control method is verified by designing a controller for an inverted pendulum using the proposed method. Simulation results demonstrate the efficiency of the method.