一种基于分数阶的非线性积分滑模控制算法

A Nonlinear Integral Sliding Mode Control Algorithm Based on Fractional Order

滑模变结构控制由于控制对象复杂,被控对象存在时空滞后和延迟性,使得滑模系统的滑模面常常不能准确地工作在理想滑模面上,引起系统抖震,制约了滑模变结构控制的实际应用。针对这一问题,在非线性积分滑模控制思想的基础上,引入了分数阶的概念,设计了一种基于分数阶的非线性积分滑模控制算法及其改进型,通过理论证明和抖震分析,基于分数阶的非线性积分滑模面可以表现出较好的控制性能,特别是减少抖震方面。最后,仿真算例验证了所提的非线性积分滑模控制方法的有效性。

Due to the complexity of the control object and the time-space lag and delay of the controlled object,the sliding mode surface of the sliding mode system often cannot work accurately on the ideal sliding mode surface,causing system chattering and restricting the practical application of the sliding mode variable structure control.To solve the problem,based on the idea of nonlinear integral sliding mode control,the concept of fractional order was introduced,and a nonlinear integral sliding mode control algorithm based on fractional order and its improved form were designed.Through theoretical proof and buffeting analysis,the nonlinear integral sliding mode surface based on fractional order can show better control performance,especially in reducing buffeting.The simulation example verifies the effectiveness of the proposed nonlinear integral sliding mode control method.