| 一类不确定非线性系统的模型偏差补偿跟踪控制算法 |
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| 引用本文： | 孙晓洁,叶桦,费树岷.一类不确定非线性系统的模型偏差补偿跟踪控制算法[J].东南大学学报(自然科学版),2009(Z1). |
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| 作者姓名： | 孙晓洁 叶桦 费树岷 |
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| 作者单位： | 东南大学自动化学院;东南大学复杂工程系统测量与控制教育部重点实验室; |
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| 基金项目： | 江苏省重大科技成果转化资助项目(BA2007058) |
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| 摘 要： | 针对一类带有系统未建模动态和干扰的不确定仿射非线性系统,基于滑模变结构控制和模型偏差补偿控制的思想,给出一种轨迹跟踪数字控制器的实现方法.在采样周期足够小的情况下,利用连续时间系统的前向Euler近似离散模型,首先推导出等价控制项作为前馈控制.然后将导出的状态误差修正项和模型偏差补偿项代替滑模控制中的切换函数,其中状态误差修正项用来保证状态误差趋于零,模型偏差补偿项用来补偿系统的未建模动态和干扰的不确定性,从而既保证了控制系统的鲁棒性,又消除了抖动现象.最后通过构造Lyapunov函数,证明了该控制算法的稳定性,同时以两连杆机械臂的轨迹跟踪为目标的仿真实验也说明了此数字控制器的有效性.
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| 关 键 词： | 不确定非线性系统 滑模控制 模型偏差补偿 数字控制器 |
Model-deviation compensation control approach for a class of uncertain nonlinear systems |
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| Sun Xiaojie Ye Hua Fei Shumin.Model-deviation compensation control approach for a class of uncertain nonlinear systems[J].Journal of Southeast University(Natural Science Edition),2009(Z1). |
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| Authors: | Sun Xiaojie Ye Hua Fei Shumin |
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| Institution: | Sun Xiaojie Ye Hua Fei Shumin(School of Automation,Southeast University,Nanjing 210096,China)(Key Laboratory of Measurement , Control of CSE of Ministry of Education,China) |
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| Abstract: | For a class of affine nonlinear systems with uncertainty which represent unmodelled dynamics and disturbances,a digital controller for trajectory tracking is developed based on sliding mode control and model-deviation compensation control.The equivalent term as the feedforword control is obtained using the Euler approximate discrete-time model of the continuous-time system when the sampling time is small enough.Then the state-error correction term and the model-deviation compensation term replace the switch... |
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| Keywords: | uncertain nonlinear system sliding mode control model-deviation compensation digital controller |
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