复合非线性反馈积分滑模控制器的设计

Integral Sliding-Mode Controller Design Based on Composite Nonlinear Feedback

通过采用非线性反馈控制(CNF)技术解决了跟踪控制中的超调问题.首先针对一类带有非匹配扰动的不确定连续系统设计了一个连续积分型的滑模面(ISM),使得系统的滑动模态是渐近稳定的;然后基于这个滑模面设计了一个积分滑模控制器(ISMC),使得系统的状态轨线在初始时刻就位于滑模面并且ISMC对不确定项具有鲁棒性.在系统轨线到达滑模面后,引入复合非线性反馈技术,设计了复合非线性积分滑模控制器(CNF-SMC),以达到降低系统超调的目的.仿真结果说明了该方法的有效性.

A nonlinear feedback control technique is used to solve the problem of large overshoot in tracking con- trol. First, a continuous integral sliding surface （ISM） is designed for an uncertain continuous system with unmatched external disturbances, which makes the system sliding mode asymptotically stable. Second, an in- tegral sliding-mode controller （ISMC） is designed based on the sliding surface, which helps the state trajecto- ry of the system locate in the sliding surface in initial time and the ISMC is robust to the uncertainties. By in- troducing a composite nonlinear feedback technology, a composite nonlinear ISMC is designed to reduce the o- vershoot as long as the system state trajectory reaches the sliding surface. Simulation results are presented to verify the effectiveness of the control strategy.