MIMO非线性不确定系统二阶滑模控制

MIMO nonlinear uncertain system second order sliding mode control

提出了一种基于有限状态机切换策略的多输入多输出二阶滑模控制算法。算法保证了传统滑模控制对参数变化和扰动不灵敏的特点,削弱了滑模控制的"抖动"现象。在上界未知的测量噪声和参数变化的情况下,算法通过滑模量及其微分的符号构成控制律,实现了系统的镇定。仿真结果表明算法在噪声环境下能保证系统的稳定性,对参数不确定具有较强的鲁棒性。算法结构简单,便于实现。

MIMO second order sliding mode control based on finite state machine strategy is proposed.The approach guarantees the feature that sliding mode control is not sensitive to parameter variation and disturbance,attenuates the chattering phenomenon and solves the stabilization problem by requiring the knowledge of s and just the sign of s in presence of measurement noise with unknown upper bound and parameter variation.Simulation results show this proposed approach realizes stabilization of the control system and is robust against the parameter perturbation.The proposed approach is simple and easy to implement.