一种新的非奇异积分型Terminal滑模控制

A new nonsingular integral terminal sliding mode control

针对二阶非线性不确定系统,研究了全局快速Terminal滑模控制,设计了一种新的非奇异Terminal滑模控制器,证明了系统在任意初始状态到达滑模面的时间是有限的且在滑模面上系统变量渐进稳定到平衡点,可避免奇异问题。另一方面,在传统的滑模面上引入非线性积分误差项可以消除稳态误差,并且利用各状态量代替各误差项,解决了被跟踪信号必须满足一阶及高阶导数存在的条件。仿真结果表明,本文所设计的非奇异控制滑模面及其控制律在较短的时间内稳定到平衡点,说明了该方法的实用性。

For a second-order uncertain nonlinear systems, the global fast Terminal sliding mode control is analyzed, and a new design of the non-singular sliding mode control system is proposed. It is proved that the system reaches the sliding surface in any initial state is finite time. In addition, the introduction of nonlinear integral error terms on the traditional sliding surface can eliminate the steady state error, and use the state quantity instead of the error term, which eliminates the tracking of the system variables. There is a known hypothesis of the first order of the signal and its higher order derivative. Through simulation verification, the designed nonsingular control rate converges to the equilibrium point in a short time, and the effectiveness of the method is explained.