基于干扰观测器的时滞非线性切换系统滑模控制方法

Sliding Mode Control Method for Time-delay Nonlinear Switched Systems Based on Disturbance Observer

为实现更加精准的时滞非线性切换系统滑模控制,应用干扰观测器设计一种新的系统滑模控制方法。构建时滞非线性切换系统模型,针对系统在发生结构变化时会产生复合干扰变化的情况,设计了一种非线性切换干扰观测器,实施系统不连续干扰的估计。通过Backstepping方法结合干扰观测器,设计一种切换滑模控制器,依据标量非线性特性打造一个滑模面,通过滑模控制器算法使时滞非线性切换系统能够满足滑模面的实际可达性条件,完成切换滑模控制器设计,实现系统的滑模控制。对设计的滑模控制方法进行测试,实验中选择的时滞非线性切换系统为一种变后掠翼NSV。实验结果表明,该设计方法能够实现较为准确地切入信号跟踪,表现出了很好的切换复合干扰估计性能。

In order to achieve more accurate sliding mode control for time-delay nonlinear switched systems,a new system sliding mode control method is designed by using disturbance observer.A time-delay nonlinear switched system model is constructed,and a nonlinear switched disturbance observer is designed to estimate the discontinuous disturbance of the system.A switching sliding mode controller is designed by Backstepping method combined with disturbance observer.A sliding mode surface is created according to the scalar nonlinear characteristics.The sliding mode controller algorithm enables the time-delay nonlinear switching system to meet the actual accessibility conditions of the sliding mode surface,completes the switching sliding mode controller design,and realizes the sliding mode control of the system.The designed sliding mode control method is tested experimentally.The time-delay nonlinear switching system selected in the experiment is a variable swept wing NSV.The test results show that the design method can achieve more accurate cut in signal tracking,and shows a good performance of switching composite interference estimation.