单输入网络化控制系统的时延补偿滑模控制

Discrete sliding mode control with time delay compensation for single input networked control systems

针对网络化控制系统中存在的网络诱导时延问题,提出了一种离散滑模控制方法。基于一类线性时不变被控对象的单输入网络化控制系统离散模型,构造了具有时延补偿的滑模面。通过系统状态预估及对状态运动的分析,设计了可以完全消除系统抖振的滑模控制器。李亚普诺夫方法证明了该控制器能使系统状态在不产生抖振的前提下收敛于滑模面,并保证系统的渐近稳定,同时不要求网络诱导时延小于一个采样周期。以位置伺服系统为对象的仿真实例验证了该设计方法的有效性。

A discrete sliding mode control is proposed for the problem of network-induced time delays in networked control systems. Based on the discrete mode of the linear time-invariant plant in the single input networked control system, a sliding plane with time delay compensation is presented. After state preestimate and state movement analysis, a discrete sliding mode controller which can essentially avoid the chattering phenomenon is designed. By Lyapunov method, it is proved that the controller can constringe the system state on sliding plane without chattering phenomenon, and asymptotically stabilize the system. The network-induced delay needn＇t be less than a sample period. A simulation on a position servo system shows that the design method is effective.