一种改进的边界层滑模控制方法

An Improved Method of Sliding Mode Control with Boundary Layer

提出了一种改进的边界层滑模控制方法,在边界层内采用非线性反馈替代了传统边界层方法的线性反馈。理论分析表明,改进的边界层方法能够保证系统状态在有限时间内到达滑动面;同时,与传统边界层方法比较,该方法具有更强的鲁棒性。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 nonlinear feedback is used within the boundary layer, instead of linear feedback that is used in the conventional boundary layer method. Theoretical analyses show that the improved method can ensure the system states reach sliding surface at a limited time and the robustness is stronger than the conventional boundary layer method. The control method is verified by designing a controller for an inverted pendulum using the improved method; the simulation results demonstrate the efficiency of the method.