基于PD扭曲滑模CPS阻尼力自适应非线性控制

PD Distortion Sliding Mode Algorithm Based Damping Force Adaptive Nonlinear Control for CPS

针对经典车杆系统(CPS)为简化而不考虑阻尼力的问题,提出一种PD控制器和扭曲滑模变结构混合控制方法。首先,对车杆系统模型进行变换,将原系统改写为四阶积分器链形式,考虑阻尼力并附加非线性扰动;其次,利用PD控制器的快速响应特性,将杆位置迅速控制在较为紧凑的区域,然后利用改进扭曲滑模控制器将系统状态控制在不稳定平衡点附近;最后,基于多Lyapunov函数对系统的进行稳定性分析,并给出数值仿真验证。

According to the problem that the traditional classic cart pole system （CPS） does not consider the damping force for simplify, here a PD distortion sliding mode algorithm based adaptive nonlinear control for CPS is proposed. Firstly, the cart pole system model is transformed to the four-order integrator chain form, which includes the additional nonlinear damping force disturbance; Secondly, the PD controller is used to control the pendulum＇s position in a compact area, and the torsional mechanism is also used to control the state variables of the system at the origin nearby; Finally, the multiple Lyapunov function is used to analyze the stability of the system, and the numerical simulation verification is presented.