摘要
首先利用Terminal吸引子函数代替高阶滑模微分器中的不连续函数,以避免抖振;然后在高阶滑模微分器每一层滑模面中增加快速收敛项,以提高收敛速度,并分别针对不同情况证明了快速高阶滑模微分器的稳定性,给出了估计误差的具体表达式,提出了一种抑噪设计方法;最后比较了快速高阶滑模微分器与标准高阶滑模微分器的收敛时间和误差,总结了快速高阶滑模微分器的一般设计方法,并通过仿真结果表明了所得结论的正确性和有效性。
Firstly, discontinuous function in higher-order differentiator is substituted by Terminal attractor function to eliminate chattering. Then, fast convergence term is inserted into each sliding mode of higher-order differentiator to speed up convergence. The system is stable under different conditions and the estimation error expression is given. A method for noise restrain is proposed. The difference of the convergence time and the estimation error between fast higher-order differentiator and normal higher-order differentiator are analyzed. The universal design method for fast higher-order differentiator is generalized. Finally, simulation results show the correctness and effectiveness of all conclusions.
出处
《控制与决策》
EI
CSCD
北大核心
2012年第9期1415-1420,共6页
Control and Decision
基金
国家自然科学基金项目(90716028,60974106)
关键词
快速高阶滑模微分器
去除抖振
抑制噪声
减小误差
fast higher-order differentiator
eliminate chattering
restrain noise
reduce error
