非线性系统多模型滑动模控制及其在三轴转台中的应用

MultiModel Sliding Mode Control of Nonlinear System with Application to a Three Axis TurningTable

文章研究了多输入多输出（ＭＩＭＯ）非线性系统的线性多模型控制问题．首先给出了ＭＩＭＯ非线性系统多模型线性化的表示，提出了一种根据期望的参考轨迹确定平衡点的位置和数量的方法；其次，通过对平衡点和模型切换点的合理选择，使得在全局范围内对非线性系统有较好的近似性．线性过程与非线性过程之间存在的残差通过连续滑动模控制（ＣＳＭＣ）进行了消除，且避免了一般滑动模控制引起的抖动现象．最后，研究了以上方法在三轴转台控制中的应用．

In this paper, the linear multimodel control problem of MIMO nonlinear system is studied. First, the linearized multimodel representation of MIMO nonlinear system is given, and a strategy is provided to determine the position and number of equilibrium points according to the desired reference trajectory. Second, the linearized model approximates the nonlinear system accurately in the whole range by reasonably selecting equilibrium points and switching points. The error existed between linear process and nonlinear process is eliminated by continuous sliding mode control strategy, which also overcomes the chattering existed in ordinary sliding mode control. At last, these control methods are applied to the control of a three axis turningtable.