非奇异终端滑模控制仿真实验设计

Simulation Experiment Design of Nonsingular Terminal Sliding Mode Control

以二阶非线性系统为研究对象,采用非奇异终端滑模控制器进行控制。在非奇异终端滑模控制器的设计中,提出了一种变速指数趋近律。采用饱和函数代替符号函数,对抖振现象进行抑制。采用Matlab/Simulink软件建立了仿真实验系统,对提出的方法进行了仿真验证。采用变速指数趋近律时,状态变量的收敛速度更快。该仿真实验系统将理论学习和编程实现相结合,提高了学生学习的兴趣和积极性,激发学生的创新意识。

Taking the two-order nonlinear system as the research object,the nonsingular terminal sliding mode( TSM)controller is used to control the system. In the design of the TSM controller,the ordinary exponential reaching law is improved,and a kind of variable-rated exponential reaching law is proposed. The chattering phenomenon is suppressed by using the saturation function instead of the sign function. The simulation experiment system is established by using Matlab/Simulink software,and the proposed method is verified by simulation. The convergence rates of the state variables are faster when the variable-rate exponential reaching law is adopted. The simulation experiment system combines theoretical learning with programming. It can improve students’ learning interest and enthusiasm and stimulate students’ comprehensive innovation ability.