摘要
本文分析了已有非奇异终端滑模(NTSM)控制存在收敛速度缓慢的问题,提出一种基于改进幂次趋近律的非奇异快速终端滑模(NFTSM)控制方法。在保证控制器非奇异的情况下,提出一种新的非奇异终端滑模函数;并结合幂次趋近律思想,设计出一种非奇异快速终端滑模控制方法,理论上证明相比传统NTSM控制缩短了到达滑模面的时间,仿真结果验证了该方法的正确性和有效性。
A fast nonsingular terminal mode（ NFTSM） control method with the improved reaching law is proposed for second order nonlinear system with uncertainly. An improved NFTSM function and the improved reaching law are proposed to shorten the convergence rate of reaching the sliding surface. Non-singular fast terminal sliding mode control scheme based on improved power reaching law is designed in this paper. It is proved that the reaching time is smaller the traditional NTSM. Simulation results show the effectiveness and correctness of these conclusions.
出处
《内蒙古农业大学学报（自然科学版）》
CAS
2015年第5期139-143,共5页
Journal of Inner Mongolia Agricultural University(Natural Science Edition)
基金
国家自然科学基金项目(51175448)
河北省自然基金资助项目(E2012203071)
关键词
滑模控制
趋近律
有限时间收敛
奇异问题
Terminal sliding mode
reaching law
finite-time convergence
singular problem
