基于截断函数的有限时间滑模控制方法

Truncation function-based finite-time sliding mode control method

针对一类二阶不确定非线性系统的鲁棒控制问题,提出一种基于截断函数的有限时间滑模控制算法。该算法具有以下特点:系统状态可在期望的有限时刻收敛为零;受控系统对外部扰动和参数不确定性具有全局鲁棒特性;系统状态的动态响应可解析预测;通过选择不同的截断函数可以实现对控制器性能的调节。仿真结果验证了所提算法的有效性。

A truncation function-based finite-time sliding mode control strategy was presented to address the robust control problem of the second-order nonlinear uncertain system. The advantages of the proposed method are as follows： the system states will converge to zero at the desired finite time; the controlled system is globally robust against external disturbance and parameter variation; the system response can be analytically expressed; the system performance can be tuned by selecting different truncation function. Simulation results validate the effectiveness of the proposed method.