基于非奇异终端滑模的单级倒立摆摆角控制

针对扰动因素影响下的单级倒立摆摆角控制问题,设计一种基于非奇异终端滑模的单级倒立摆控制器.首先,通过牛顿-欧拉方法建立系统的模型,并将其表示成状态空间模型形式.然后,为了实现系统输出变量的有限时间收敛,采用非奇异终端滑模控制方法设计系统摆角控制器,同时应用Lyapunov稳定性方法对闭环系统的有限时间稳定进行了证明.最后,对所提控制方法进行了仿真验证,结果表明了所设计控制方法的有效性.

Singleinverted Pendulum Angle Control Based on Nonsingular Terminal Sliding Mode

In this paper, a kind of controller based on a nonsingular terminal sliding mode control technique was proposed for the angle control of single inverted pendulum system with disturbances. Firstly, Newton Euler modeling method was utilized to establish the model of a single inverted pendulum system, and the system model was represented as a state space model. Then, in order to achieve the finite time convergence of the system output variable, the controller based on nonsingular terminal sliding mode control was designed, and the finite time stability of the closed loop system was also proved by the Lyapunov stability method. Finally, the simulation of the proposed control method was carried out and the results showed that the proposed control method is effective.