一种新的基于扰动动态补偿器的离散滑模控制策略

A Novel Discrete Sliding Mode Control Based on Disturbance Dynamic Compensator

分析了采用传统扰动动态补偿离散趋近律系统存在的缺陷,提出了一种改进的扰动动态补偿离散趋近律,应用该趋近律设计的滑模控制,系统不仅可直接平滑地预测内部参数摄动与外部扰动,而且解决了采用传统扰动动态补偿离散趋近律系统运动最终不能趋于原点的问题,并减弱了系统趋近切换面的必要条件,具有降低抖动及保持快速趋近的品质。通过仿真说明了本文方法的可行性与有效性。

The limitation of system which is designed by using conventional discrete reaching law with dynameic disturbance compensator is analysised,then a novel discrete reaching law with dynamic disturbance compensator is presented for a class of uncertain systems,the variable structure control system which is designed by using this reaching law not only can forcast the uncertain parameters and external disturbance,but also can solve the problem that the system can not decreasingly approache to zero,and weaken the necessary condition in which the system approximate to the sliding mode,and the propsed method can decrease system chattering and hold fast reaching speed.The simulation results illustrate that the given method is feasible and effective.