基于新型趋近律的板球系统自适应滑模控制

Adaptive sliding mode control of ball and plate system based on new approach law

板球系统是一个典型的欠驱动系统,具有强耦合性,存在响应速度慢、受外界不确定因素干扰导致跟踪精度差等问题。为改进存在的问题,提出一种基于新型趋近律的自适应滑模控制器。首先,在理想条件下对板球系统进行数学建模;其次,利用状态误差设计系统滑模面;然后,利用RBF网络设计新型趋近律,并采用Lyapunov理论证明控制策略的稳定性;最后,仿真实验表明,提出的控制器不仅提高了系统响应速度、轨迹跟踪精度以及系统鲁棒性,而且还有效地抑制系统所产生的抖振,验证了控制器的有效性。

Ball and plate system is a typical underactuated system,which has strong coupling,slow response speed and poor tracking accuracy due to the interference of external uncertainties.An adaptive sliding mode controller based on a new approach law is proposed to improve the existing problems.Firstly,the mathematical modeling of the ball and plate system is carried out under the conditions of ignoring friction.Secondly,the sliding mode surface of the system is designed by state error.Then,the RBF network is used to design a new approach law,and Lyapunov theory is used to prove the stability of the control strategy.Finally,the simulation results show that the proposed controller not only improves the system response speed,trajectory tracking accuracy and system robustness,but also can effectively suppress chattering generated by the system,which verifies the effectiveness of the controller.