| 一类二阶非线性不确定系统的非奇异Terminal滑模控制 |
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| 引用本文： | 刘国栋,姚丽萍. 一类二阶非线性不确定系统的非奇异Terminal滑模控制[J]. 东南大学学报(自然科学版), 2006, 0(Z1) |
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| 作者姓名： | 刘国栋 姚丽萍 |
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| 作者单位： | [1]江南大学通信与控制工程学院 [2]江南大学通信与控制工程学院 无锡 |
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| 摘 要： | 在分析传统的Terminal滑模控制的基础上,发现系统状态虽然能在有限时间到达滑动模态,并在有限时间内收敛到平衡点,但传统的Terminal滑模控制律容易使系统出现奇异问题.为了克服Terminal滑模控制的奇异问题,针对一类二阶非线性不确定系统提出了非奇异Terminal滑模切换函数,并证明了采用非奇异Terminal滑模控制律,不仅避免了系统出现奇异问题,而且能保证系统状态在有限时间内到达滑动模态并收敛到平衡点.最后通过实例比较2种滑模控制方法,仿真结果验证了非奇异Terminal滑模控制的有效性.
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| 关 键 词： | Terminal滑模控制 奇异 非线性系统 |
Non-singular terminal sliding mode control for a class of second-order nonlinear uncertainties system |
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| Liu Guodong Yao Liping. Non-singular terminal sliding mode control for a class of second-order nonlinear uncertainties system[J]. Journal of Southeast University(Natural Science Edition), 2006, 0(Z1) |
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| Authors: | Liu Guodong Yao Liping |
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| Abstract: | Conventional terminal sliding mode control is analyzed.Although the state variable of system tends to zero within finite time in the phase of sliding mode motion,this control variable of TSM(terminal sliding mode) often exists singularity problem.A new terminal sliding mode manifold for the second-order nonlinear uncertainties system is presented to eliminate the singularity problem.It is proved that the control variable of Non-singularity terminal sliding mode control can not only avoid the singularity problem but also assure the state variable of the sliding mode tending to zero.At last,two sliding mode control methods are compared through an example,the simulation result proves the effectiveness of NTSM(non-singularity terminal sliding mode). |
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| Keywords: | Terminal sliding mode control singularity nonlinear systems |
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