十字梁控制系统的非奇异终端滑模控制

Nonsingular Terminal Sliding Mode Control of Cross Beam Control System

为了保证系统跟踪误差在有限时间内收敛到零,采用非奇异终端滑模控制方法设计十字梁系统的控制器。将十字梁系统3个通道之间的耦合因素和外界干扰影响视为不确定项,将十字梁系统模型转变为一种类解耦形式。设计了自适应算法分别调节3个通道的控制器参数,对不确定项进行估计和补偿,使得3个通道的控制器中不包含耦合因素,从而简化了控制器结构。仿真分析表明,所设计的3个通道的非奇异终端滑模控制器比前人设计的控制器具有跟踪速度更快、跟踪精度更高的优点。

In order to ensure the system tracking error to converge to zero in finite time,the nonsingular terminal sliding mode control approach is applied to design the controller of cross beam system.The coupled factors of three channels of cross beam system and external disturbance are treated as uncertain terms,and the model of cross beam system is transformed into a similarly decoupled form.Adaptive algorithms are designed to adjust the parameters of three channels＇ controllers,so as to estimate and compensate the uncertain terms;therefore three channels＇ controllers don＇t contain coupled factors,and their structure is simplified.Simultion analysis shows the designed three channels＇ nonsingular terminal sliding mode controllers have faster tracking speed and higher tracking precision than the former controllers.