参数不确定非线性系统切换控制  

Switching control of nonlinear system with uncertain parameters

作　　者：石陇辉[1] 李晓理[1] 李骥[1] 

机构地区：[1]北京科技大学信息工程学院自动化系,北京100083

出　　处：《化工学报》2008年第7期1843-1847,共5页CIESC Journal

基　　金：国家自然科学基金项目(60604002);北京市科技新星计划项目(2006B23);北京市教委共建重点学科项目(xk100080537)~~

摘　　要：Based on the scope of change of parameters,multiple sliding mode variable structure controllers were designed for a kind of nonlinear system with uncertain parameters.A switching controller was formed with a given index switching function.Under the guarantee of Lyapunov stability,the controller of system would be switched among multiple sliding mode variable structure controllers according to the switching condition.The mechanism of switching could improve the transient response greatly.A robotic arm was studied as a nonlinear system.Multiple sliding mode variable structure controllers were set up according to the dynamic equation of the robotic arm.An index switching function based on output error was given for the design of switching controller of the robotic arm.To test the effectiveness of the switching controller,four simulation examples according to different scopes of parameter change were investigated.From the simulation,it was concluded that the switching controller could enhance the control performance greatly.Based on the scope of change of parameters, multiple sliding mode variable structure controllers were designed for a kind of nonlinear system with uncertain parameters. A switching controller was formed with a given index switching function. Under the guarantee of Lyapunov stability, the controller of system would be switched among multiple sliding mode variable structure controllers according to the switching condition. The mechanism of switching could improve the transient response greatly. A robotic arm was studied as a nonlinear system. Multiple sliding mode variable structure controllers were set up according to the dynamic equation of the robotic arm. An index switching function based on output error was given for the design of switching controller of the robotic arm. To test the effectiveness of the switching controller, four simulation examples according to different scopes of parameter change were investigated. From the simulation, it was concluded that the switching controller could enhance the control performance greatly.

关 键 词：非线性系统 滑模 变结构 切换 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]