一类切换系统基于观测器的滑模降阶控制

Sliding mode control for a class of switched systems based on reduced-order observer

针对一类状态不可测的切换系统,研究了其基于观测器的滑模控制问题.设计了一类降阶观测器,并用观测到的状态设计了滑模面函数以及滑模控制器,使得闭环系统的状态能够到达滑模面上,产生滑动模态.并应用Lyapunov函数的方法给出了切换系统的滑动模态可达条件以及确保闭环切换系统渐近稳定的离散切换律.最后,数值仿真验证了本文所提方法的有效性.

The sliding mode control for switched systems with unmeasured states is addressed. Firstly, a reduced-order observer is designed to estimate the unmeasured states, and then a sliding surface function is chosen and a sliding mode control law is synthesized based on the estimated states. The sliding mode control law ensures the reachability of the predefined sliding surface, and thus the sliding mode dynamics is resulted. A sufficient condition is also derived to guarantee the existence of the sliding mode dynamics, and a set of switching laws are then devised to insure asymptotic stability of the overall switched closed-loop system. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed approaches.