基于三步法的板球系统滑模控制器研究

Research on Sliding Mode Controller for Ball and Plate System Based on Three-Step Method

为解决非线性板球系统滑模控制中出现的抖振现象以及轨迹跟踪过程中多扰动问题,提出了一种基于三步法的滑模控制方案。首先,建立板球系统状态空间模型,设计滑模控制律克服系统存在的不确定性扰动;其次,将三步法控制规律与滑模控制算法相结合,设计三步法滑模控制器,避免了滑模控制中存在的抖振现象;最后,通过李雅普诺夫函数证明了闭环控制系统的稳定性。对比仿真实验结果进一步验证该方法在轨迹跟踪控制中的有效性。

In order to solve the chattering phenomenon in sliding mode control of nonlinear the ball and plate system and the multi-disturbance problem in trajectory tracking,we studied a sliding mode control scheme based on a three-step method.Firstly,establish the ball and plate system state-space model,and design the sliding mode control law to overcome the uncertain disturbance of the system.Secondly,combining the three-step control law with the sliding mode control algorithm,design a three-step sliding mode controller to avoid the chattering phenomenon in the sliding mode control.Finally,prove the closed-loop control system stability by Lyapunov function.Compared with the simulation results,this method's trajectory tracking control effectiveness is further verified.