一种新的趋近律离散滑模控制方法及仿真

利用幂次函数构造了一种新的趋近律离散滑模控制方法,给出了无抖振的理论分析和稳定性证明。在具有传统滑模控制固有强鲁棒性的同时,该方法可以使切换函数无抖振、无正负交替的快速趋近于零。利用倒立摆模型进行了数值仿真,结果表明,该方法控制器的输出、切换函数的值、被控系统的输出均不存在抖振现象,而且被控系统表现出了良好的动态品质。

Abstract：

A new algorithm of the reaching-law discrete-time sliding mode control was designed by using power function.Theory analysis about non-chattering and probative process of stability was given.This algorithm can retain the better robustness of the common discrete-time sliding mode control,at the same time this algorithm can make the value of switch function reach zero speedily.There is no chattering and positive-negative alternation in this process.Numerical value simulation was given by using inverted pendulum model.Simulation results state that there is no chattering hundred-percent in the output of controller,value of switch function,and the output of the controlled system.This algorithm also makes the controlled system achieve excellent dynamic performance.

New Algorithm of Reaching-Law Discrete-Time Sliding Mode Control and Simulation

A new algorithm of the reaching-law discrete-time sliding mode control was designed by using power function.Theory analysis about non-chattering and probative process of stability was given.This algorithm can retain the better robustness of the common discrete-time sliding mode control,at the same time this algorithm can make the value of switch function reach zero speedily.There is no chattering and positive-negative alternation in this process.Numerical value simulation was given by using inverted pendulum model.Simulation results state that there is no chattering hundred-percent in the output of controller,value of switch function,and the output of the controlled system.This algorithm also makes the controlled system achieve excellent dynamic performance.