组合滑膜控制的鲁棒性研究

Robustness study combining sliding-mode control

基于趋近律的滑膜控制很难同时满足减小抖动和具有强鲁棒性的特点。离散指数趋近律和变速趋近律结合形成的滑膜控制有效地减小了抖动,但是关于它的鲁棒性未曾研究。通过不确定系统滑膜位置跟踪控制,针对组合滑膜控制的鲁棒性进行了推导研究,并且提出了有效改善鲁棒性的方法,即基于鲁棒H∞滤波器的组合控制,经实验仿真证明了该方法的有效性。

The sliding-mode control based on reaching law can＇t weaken the dithering, and has the characteristic of strong robustness. The sliding-mode control combining the discrete exponential reaching law with variable speed reaching law can wea- ken the dithering effectively, but its robustness hasn＇t be studied. The robustness of the combined sliding-mode control is de- duced and studied by means of the sliding-mode position tracing control of the uncertain system. The method of the combined control based on robust H∞ filter is proposed, which can improve the robustness effectively. The effectiveness of the method was verified with experimental simulation.