摘要
采用滑模控制对非线性系统进行控制时,抖振是不可避免的现象,如何抑制抖振成为研究的重点。介绍了一种反演自适应滑模控制方案,它可以解决非线性系统中的不确定性问题,保证系统的鲁棒性。为此,首先介绍了反演设计的原理,通过在反演设计中引入滑模控制,并采用自适应算法对不确定性进行估计,有效的降低了抖振。最后给出了一个应用此方法进行控制的实际例子,结果表明了这种方法的有效性。
Chattering is inevitable when adopting the sliding mode control to nonlinear systems and inhibiting the chattering has become an important research issue. This paper introduces an adaptive backstepping sliding mode control scheme which can solve the uncertain problems in nonlinear system and meanwhile ensure the robustness of system. Firstly, the principle of the backstepping design is introduced. Then we show that chattering can be effectively reduced by introducing sliding mode control into the backstepping design and adopting an adaptive algorithm to estimate the uncertainty. In the end, a practical example of a plant controlled by the scheme is presented and the result demonstrates the effectiveness of the scheme.
出处
《控制工程》
CSCD
北大核心
2012年第4期574-579,共6页
Control Engineering of China
基金
Natural Science Foundation of Inner Mongolia(2009MS0911)
关键词
反演设计
滑模控制
不确定性
抖振
backstepping design
sliding mode control
uncertain problems
chattering
