基于ESO的复合滑模面非奇异terminal滑模控制

Nonsingular terminal sliding mode control with compound sliding surface based on ESO

针对传统非奇异terminal滑模控制存在的收敛缓慢和控制输入抖振的问题,提出采用复合滑模面函数和扩张状态观测器的控制器设计方法.首先,结合复合滑模面,采用分阶段控制律提高系统收敛速度;然后,在此基础上使用扩张状态观测器在线估计并补偿系统的不确定量,以有效削弱系统未建模动力学导致的抖振;最后,分别证明了以上两种方法的有限时间收敛特性.仿真结果验证了所提出方法的有效性,体现了系统的快速收敛和强鲁棒性等特点.

According to the slow convergence and control input chattering phenomenon in traditional nonsingular terminal sliding mode（NTSM） control, a controller design method based on the compound sliding surface and the extended state observer（ESO） is proposed. A staged controller is adopted combined with the compound sliding surface to accelerate the convergence speed. On this basis, the ESO is used for real-time estimation and compensation of system uncertainty, which effectively weakens the chattering caused by un-modeled system dynamics. The finite time convergence properties of the two methods are proved respectively. Simulation results verify the effectiveness of the proposed methods, and show fast convergence and strong robustness of the control system.