网络控制系统具有时延补偿的离散滑模预估控制

基于线性时不变被控对象的网络控制系统的离散模型,研究了系统滑模控制器的设计问题.在系统状态预估的基础上,构造了具有时延补偿的滑模超平面,提出了完全消除抖振的滑模控制方法.利用李雅普诺夫方法证明了该控制器可保证系统的稳定性且不要求网络诱导时延小于一个采样周期.以伺服系统为对象的仿真实例验证了该方法的可行性和有效性.

Discrete sliding mode preestimate control with time delay compensation in networked control systems

Based on the discrete mode of the linear time-invariant networked control system,the sliding mode controller is designed in this paper.A sliding hyperplane with time delay compensation is presented after state preestimate,and a discrete sliding mode control method which can essentially avoid the chattering phenomenon is proposed.Then,by Lyapunov method it is proved that the controller can asymptotically stabilize the system,and the network-induced delay needn't be less than a sample period.A simulation example on a position servo system shows that this method is feasible and effective.