摘要
二阶滑模作为高阶滑模的特殊情形,不仅具有传统滑模鲁棒性强、对外界干扰不敏感的特点,而且能够有效地消弱传统一阶滑模中存在的"抖振"现象.本文设计了一种新的二阶滑模控制算法.该算法的优点是假设不确定性是由非负函数限制而不是由常数限定.因此,该算法在实际应用中具有更广的应用范围.此外,算法中的加幂积分技术保证了系统在有限时间内稳定,而不是传统二阶滑模中普遍存在的有限时间收敛,并给出了严格的数学证明.最后,在倒立摆控制中的应用验证了该算法的有效性.
Second-order sliding mode, as a special case of highorder sliding mode, not only has strong robustness and insensitiveness to external disturbance, but also eliminates the chattering phenomenon existing in the traditional first-order sliding mode. A new second-order sliding mode control algorithm is developed in this paper. The advantage of the algorithm lies in that it can be used to handle the uncertainty bounded by a known positive function rather than a positive constant. Consequently, the algorithm can be applied to a more general class of systems. In addition, the adding a power integrator technique guarantees the global finite-time stability rather than the finite-time convergence. Finally, the application to control of an inverted pendulum shows the effectiveness of the algorithm.
出处
《自动化学报》
EI
CSCD
北大核心
2015年第1期193-202,共10页
Acta Automatica Sinica
基金
国家自然科学基金(61203054)
江苏省高校优势学科建设工程资助项目(PAPD
苏政办发(2011)6号)
江苏省自然科学基金(BK2012283)资助~~
关键词
二阶滑模
有限时间稳定
加幂积分
倒立摆
Second-order sliding mode
finite-time stability
adding a power integrator
invented pendulum