具有非线性切换函数的变结构控制器设计

本文针对机器人的给定点调节问题，提出了一种新的控制方法。本方法主要特点为：采用李亚普诺夫函数V＝S^TMS替代变结构控制器设计中通常采用的到达条件SS＜0，从而避免了烦琐的惯性阵转换问题；通过使用非线性切换函数替代线性切换函数，大大改善了系统的动态响应；通过约束系统动点在扇区内滑动来替代在切换面交的滑动，使抖动得以消弱。

Variable Structure Controller Design with Nonlinear Switching Surface

A new controller design using the theory of VSS dealing with the set-point regulation problem of robots is presented. The main arguments in the methodology are:the elimination of the tedious inertia matrix inversion by using the lyapunov function V = STMS instead of the requirement SiS(?) <0,as is usually used in the current VSS controller design;the transient response is greatly improved by using the nonlinear swithching surfaces instead of the linear switching surface; chattering is eliminated or weakened by restricting the state of the system toslide within a sector rather than along the intersection of the switching planes.