一种非线性系统积分Terminal滑模的控制系统设计

针对一种非线性动态系统,提出了一种新的非奇异的快速Terminal滑模控制系统设计方法.首先,在分析Terminal滑模设计方法的基础上,为了进一步加速状态在滑模运动的速度,提出了一种快速Terminal滑模,避免了传统Terminal滑模奇异问题,并给出了状态收敛到平衡状态的时间范围.其次,针对含有不确定性的非线性系统,结合反演法设计了有限时间稳定的快速Terminal滑模控制系统.最后,利用数字仿真验证了提出的积分Terminal滑模控制系统设计的有效性.

An Integral Trminal Sliding Mode Controller for Nonlinear System

This paper presents a global nonsingular fast integral terminal sliding mode(FITSM)controller for a nonlinear dynamical system.A novel FITSM is first proposed to accelerate convergence rate to the equilibrium point in a sliding manifold,according to the results of terminal sliding modes.Also it addresses the singularity problem accompanied by the conventional terminal sliding mode control.Additionally,the time taken to reach the equilibrium point from any initial state in the sliding mode is guaranteed to be finite.Secondly,combined with backstepping method,the sliding mode controller is designed for the nonlinear system with uncertainty and disturbance.This is followed by analysis of simulation results of the proposed terminal sliding mode controller.