一类奇异非线性变结构控制系统的跟踪问题

The Problem of Tracking for a Class of Nonlinear Singular Variable Structure Control System

首次利用变结构控制方法研究了一类奇异非线性系统的模型跟踪问题。在不同情况下，通过引入动态补偿器的概念，设计了奇异模型跟踪系统的切换函数，得到了在切换面上实现跟踪的条件．然后利用趋近律方法设计了变结构控制，以保证在切换面外的运动在有限时间到达切换面，通过滑动运动实现跟踪．最后讨论了参考模型为正常系统的线性定常奇异系统的跟踪问题．

his paper, at the first time, considet, the problem of tracking for a class of nonlinear singular systems by using the theory of variable structure control. For different cases, the switching function of singulat model-following system is designed by employing dynamic compensator, and some conditions are obtained to ensure the tracking to be realized on the switching surface. Moreover variable structure control is designed to make the motion outside the switching surface can reach it at a finite time. Finally, the problem of tracking for linear time invariant singular system is discussed.