摘要
利用跟踪微分器设计了一种新的离散滑模控制器,可以从不连续的指令信号中合理提取连续信号及微分信号,且不需要利用线性外推的方法预测指令信号下一时刻的值及其微分.与基于趋近律的离散滑模控制器进行的对比仿真表明,所设计的控制器在保持传统滑模控制固有强鲁棒性的同时,控制器的输出几乎不存在抖振现象,而且在跟踪不连续的指令信号时,系统表现出良好的动态品质.
Tracking differentiator is used to design a new discrete-time sliding mode controller. This controller can obtain continuous signal and differential signal logically from discontinuous order signal, and need not use the linear prediction method to predict the value and differential signal of the order signal at next time. The new controller is contrasted to reaching-law discrete-time sliding mode controller by simulation. Simulation results show that the output signal of the new controller hardly contains chattering phenomenon, and the controller can retain powerful robustness of the common discrete-time sliding mode control at the same time. The controlled system achieves excellent dynamic performance when tracking discontinuous order signal.
出处
《控制与决策》
EI
CSCD
北大核心
2009年第10期1517-1521,共5页
Control and Decision
关键词
跟踪微分器
离散滑模控制
趋近律
鲁棒性
抖振
Tracking differentiator
Discrete-time sliding mode control
Reaching-law
Robustness
Chattering
