针对汽车主动前轮转向系统(active front steering,AFS)中的安全控制问题,提出一种基于固定时间非奇异终端滑模的主动前轮转向控制器.将固定时间终端滑模与幂次趋近律相结合设计一种新的固定时间非奇异终端滑模控制器,以实现系统的快速...针对汽车主动前轮转向系统(active front steering,AFS)中的安全控制问题,提出一种基于固定时间非奇异终端滑模的主动前轮转向控制器.将固定时间终端滑模与幂次趋近律相结合设计一种新的固定时间非奇异终端滑模控制器,以实现系统的快速稳定控制和削弱系统稳态时的抖振,使得闭环系统的收敛时间仅取决于滑模面及控制器的参数设计,而与系统的初始值无关.基于Lyapunov稳定性理论验证了闭环系统的稳定性.仿真结果表明,所提固定时间终端滑模控制方法的快速性和稳定性均优于传统滑模控制和PI控制方法.展开更多
In this paper,by combining a second-order sliding mode(SOSM)algorithm with the saturation technique,a novel SOSM control scheme has been presented.The feature of the proposed SOSM controller lies that there is a satur...In this paper,by combining a second-order sliding mode(SOSM)algorithm with the saturation technique,a novel SOSM control scheme has been presented.The feature of the proposed SOSM controller lies that there is a saturation function imposed on the sliding variable,which could significantly enlarge the domain of attraction for the closed-loop system.The geometric method has been utilized to prove that all the sliding variables will be steered to the origin in a finite time.Meanwhile,the relation between the control parameters and the shape of the phase trajectory has also been discussed.Finally,the proposed method has been applied to the tracking control problem for a robotic manipulator.展开更多
文摘针对汽车主动前轮转向系统(active front steering,AFS)中的安全控制问题,提出一种基于固定时间非奇异终端滑模的主动前轮转向控制器.将固定时间终端滑模与幂次趋近律相结合设计一种新的固定时间非奇异终端滑模控制器,以实现系统的快速稳定控制和削弱系统稳态时的抖振,使得闭环系统的收敛时间仅取决于滑模面及控制器的参数设计,而与系统的初始值无关.基于Lyapunov稳定性理论验证了闭环系统的稳定性.仿真结果表明,所提固定时间终端滑模控制方法的快速性和稳定性均优于传统滑模控制和PI控制方法.
基金supported by the National Natural Science Foundation of China under Grant Nos.61573170 and 31571571Jiangsu Natural Science Foundation for Distinguished Young Scholars under Grant No.BK20180045+1 种基金the Priority Academic Program Development of Jiangsu Higher Education Institutionsthe Six Talent Peaks Project in Jiangsu Province under Grant No.XNYQC-006.
文摘In this paper,by combining a second-order sliding mode(SOSM)algorithm with the saturation technique,a novel SOSM control scheme has been presented.The feature of the proposed SOSM controller lies that there is a saturation function imposed on the sliding variable,which could significantly enlarge the domain of attraction for the closed-loop system.The geometric method has been utilized to prove that all the sliding variables will be steered to the origin in a finite time.Meanwhile,the relation between the control parameters and the shape of the phase trajectory has also been discussed.Finally,the proposed method has been applied to the tracking control problem for a robotic manipulator.
