一种不确定离散时间系统的变结构控制

Uncertain Discrete-Time Variable Structure Control System

讨论了利用指数趋近律设计不确定离散变结构控制系统的问题,给出了改进的离散趋近律,得出了新的控制律,并证明了系统在此控制律下可以渐近趋于原点的性质,降低了系统的抖振,同时结合时延技术对干扰进行在线估计,抵消掉系统中的慢变不确定性。最后仿真结果证明了该方法的有效性。

In this paper, the design of uncertain discrete variable structure control systems through usual reaching law is discussed. An improved discrete reaching law and a new control law based on it are given. Then the property that the systems can decreasingly approach to zero is proved, which can decrease system chattering and generates an on-line estimation by the mechanism of time delay to cancel the slowly varying uncertainties. The result of simulation shows the effectiveness of the scheme.