非最小相位系统的终端滑模控制

Terminal sliding control for nonminimum phase systems

在重新定义系统输出方法的基础上,提出一种终端滑模控制策略,解决了非最小相位系统难以控制的问题。首先,重新定义系统的输出,通过输入输出线性化,得到系统的输入输出子系统。然后,设计终端滑模控制策略,使输入输出子系统在有限时间收敛到零,并根据系统性能指标要求选择适当的输出定义参数,使零动态子系统在原点附近渐近稳定,从而保证原系统的渐近稳定。仿真结果验证了提出方法的有效性。

Based on the output redefinition method, a terminal sliding mode control method is proposed to address the control design of nonminimum-phase systems. The system is transferred into input-output subsystem by input-output linearization with the redefined outputs, then a terminal sliding mode control strategy is designed to make the input-output subsystem converge in finite time, and by choosing suitable output's parameters, the zero dynamics can be asymptotical stable at original point. So the whole nonminimum-phase control system is guaranteed to be asymptotically stable. Simulation results are presented to verify the design.