摘要
提出基于单值预估离散滑模控制算法的离散变结构控制系统设计新思路.根据不确定系统的名义模型设计理想滑模面,以名义模型作为预测模型,利用当前及过去时刻的滑模信息预测未来时刻的滑模动态,并将滚动优化和反馈校正引入离散滑模控制系统的设计.该方法不仅较好地消除了抖振现象,而且能保证闭环系统的鲁棒稳定性.将该算法应用于船舶航向控制器的设计,试验结果表明了它的有效性.
An approach to the variable structure control design for uncertain discrete-time systems based on the sliding mode single-value prediction algorithm is proposed. A nominal model is used to determine the ideal sliding surface and predict future sliding mode value. The receding optimization and the feed-back correction are introduced into the design method. Chattering phenomena is avoided and robust stability of the closed-loop system is ensured. The proposed algorithm is applied to a ship autopilot controller design and the experiment results show its effectiveness.
出处
《控制与决策》
EI
CSCD
北大核心
2006年第7期829-832,836,共5页
Control and Decision
关键词
离散时间系统
交结构控制
滑模预测
船舶自动舵
Discrete time systems
Variable structure control
Sliding mode prediction
Ship autopilot
