| 一类非线性系统的动态面二阶滑模控制 |
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| 引用本文： | 梁勇,尚安利,邓方林. 一类非线性系统的动态面二阶滑模控制[J]. 系统工程与电子技术, 2004, 26(10): 1468-1470 |
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| 作者姓名： | 梁勇 尚安利 邓方林 |
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| 作者单位： | 1. 第二炮兵工程学院导弹控制工程系,陕西,西安,710025
2. 海军航空工程学院301教研室,山东,烟台,264001 |
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| 摘 要： | 针对一类具有非匹配不确定的严格反馈非线性系统,基于动态面控制和二阶滑模控制设计方法,进行一种新颖的状态反馈控制器设计,实现了不确定系统任意小的跟踪误差。动态面控制类似于反演设计,但其包含一系列低通滤波器;低通滤波器允许控制对象数学模型不可微,这样就避免了反演设计所存在的"膨胀项",减少了计算量,易于实现。同时,由于引入二阶滑模控制,消除了传统滑模控制(一阶滑模控制)存在的抖振现象,既增强了控制系统的鲁棒性,又提高了系统的控制精度。
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| 关 键 词： | 低通滤波器 动态面控制 二阶滑模 反演 |
| 文章编号： | 1001-506X(2004)10-1468-03 |
| 修稿时间： | 2003-10-15 |
Dynamic surface second-order sliding mode control for a class of nonlinear systems |
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| LIANG Yong,SHANG An-li,DENG Fang-lin. Dynamic surface second-order sliding mode control for a class of nonlinear systems[J]. System Engineering and Electronics, 2004, 26(10): 1468-1470 |
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| Authors: | LIANG Yong SHANG An-li DENG Fang-lin |
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| Affiliation: | LIANG Yong~1,SHANG An-li~2,DENG Fang-lin~1 |
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| Abstract: | A dynamic surface second-order sliding mode controller for nonlinear cascade systems with mismatched disturbance is proposed. The method contains two techniques: dynamic surface control and second-order sliding mode control. This method can realize arbitrary small tracking error and robust control. Compared with the classical backstepping procedure, the dynamic surface control includes a set of low pass filters which allow the model not to be differentiated, and reduce the computation complexity, thus avoiding the problem of "explosion of the term" that backstepping design suffers. The last step introduces second-order sliding mode control, which strengthens robustness of the system and improves its accuracy, meanwhile overcoming the inherent chattering of classical sliding mode control. The simulation results also prove this. |
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| Keywords: | low pass filter dynamic surface control second-order sliding mod backstepping |
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