摘要
针对已有终端滑模控制的奇异和收敛缓慢问题,提出一种非奇异快速终端滑模函数,并利用李亚普诺夫方法证明其有限时间收敛特性.在此基础上,结合带负指数项的吸引子来设计控制律,使控制输入实现时间连续,并保证滑模面全局存在.理论分析表明,通过合理选择控制参数,可使系统避免"收敛停滞",且对有界模型误差和外部干扰具有较好鲁棒性.
Aiming at the singularity and slow-convergence problem of the existing terminal sliding mode （TSM） control, this paper proposes a nonsingular and fast terminal sliding function and proves its finite-time convergence property with Lyapunov method. On this basis, the control law is synthesized by employing an attractor with negative exponential factor to guarantee the time-continuous control input and global existence of the sliding mode. Theoretical analysis indicates that by selecting the control parameters properly, convergence stagnation of the closed system can be avoided and a preferable robustness can be obtained when the model error and the external disturbance are bounded.
出处
《信息与控制》
CSCD
北大核心
2009年第1期1-8,共8页
Information and Control
关键词
终端滑模
奇异
抖振
有限时间收敛
terminal sliding mode （TSM）
singularity
chattering
finite-time convergence
