摘要
This paper presents an optimization method of designing the integral sliding mode (ISM) based composite nonlinear feedback (CNF) controller for a class of low order linear systems with input saturation. The optimal CNF control is first designed as a nominal control to yield high tracking speed and low overshoot. The selection of all the tuning parameters for the CNF control law is turned into a minimization problem and solved automatically by particle swarm optimization (PSO) algorithm. Subsequently, the discontinuous control law is introduced to reject matched disturbances. Then, the optimal ISM-CNF control law is achieved as the sum of the optimal CNF control law and the discontinuous control law. The effectiveness of the optimal ISM-CNF controller is verified by comparing with a step by step designed one. High tracking performance is achieved by applying the optimal ISM-CNF controller to the tracking control of the micromirror.
This paper presents an optimization method of designing the integral sliding mode (ISM) based composite nonlinear feedback (CNF) controller for a class of low order linear systems with input saturation. The optimal CNF control is first designed as a nominal control to yield high tracking speed and low overshoot. The selection of all the tuning parameters for the CNF control law is turned into a minimization problem and solved automatically by particle swarm optimization (PSO) algorithm. Subsequently, the discontinuous control law is introduced to reject matched disturbances. Then, the optimal ISM-CNF control law is achieved as the sum of the optimal CNF control law and the discontinuous control law. The effectiveness of the optimal ISM-CNF controller is verified by comparing with a step by step designed one. High tracking performance is achieved by applying the optimal ISM-CNF controller to the tracking control of the micromirror.
基金
This work was supported by National Natural Science Foundation of China (No. 61374036) and the Fundamental Research Funds for the Central Universities (No. SCUT 2014ZM0035).