一种新型滑模控制器的设计及其应用

Design of a Novel Sliding Mode Controller and Its Application

针对非线性不确定系统的控制,设计了一种新的基于高阶积分的滑模控制器。这种控制器集成了积分和高阶滑模控制的优点,具有抑制抖振、实用于非最小相位系统和有较强的鲁棒性特点,并且为了进一步减少控制抖振问题引入了饱和函数对控制器进行改进。在系统的不确定性和干扰鲁棒控制方面,提出的滑模控制器能够使系统稳定工作;只需要满足干扰有界的条件,其稳定性利用李雅普诺夫方法得到了验证。最后通过在干扰环境下在无人机的轨迹跟踪上仿真研究,验证了提出的滑模算法的有效性。

A novel high order integral slide mode control scheme for uncertain nonlinear system was proposed.In the order to reduce chattering of control input,the saturation function instead of sign function is used in the proposed controller. The proposed controller was continuous and convergence to the desired state asymptotically in finite time. Moreover,without the need of prior knowledge about the bounds of uncertainties and disturbance,the asymptotic convergence to the sliding surface can still be guaranteed with the proposed controller. Control system stability was ensured using the Lyapunov method. Finally the proposed controller was used in the unmanned aerial vehicle to demonstrate the effectiveness of the proposed method.