一类欠驱动系统的分层FTSMC控制  

Hierarchical FTSMC of a Class of Under-actuated Systems

作　　者：刘博[1] 王永[1] 

机构地区：[1]中国科学技术大学自动化系,安徽合肥230027

出　　处：《计算机仿真》2008年第11期302-304,315,共4页Computer Simulation

摘　　要：研究了一类具有扰动的欠驱动非线性系统的控制问题及其渐近稳定的判定。提出一种基于快速终端滑模(FTSMC)的分层控制方法:分层快速终端滑模控制(HFTSMC)。方法将系统按状态变量的耦合关系分成多个子系统,应用快速终端滑模控制分别构造滑动面。在此基础上采用Lyapunov方法设计控制量,给出了一种新的滑模面渐近稳定性判据,并提出了两种构造第二层滑模面的方法。对旋转式倒立摆的稳定控制进行的MATLAB仿真与实物实验,均得到较好的控制效果。实验结果证明了控制方法及判据的有效性。Analysis of the control and decision method for the asymptotic stability of a class of under - actuated nonlinear systems with disturbances is presented. Based on fast terminal sliding mode control （k3SMC）, a hierarchical control - - hierarchical fast terminal sliding mode control （HFTSMC） - - is proposed, which divides the system into subsystems according to the coupling of state variables and implements fast terminal sliding mode control respectively. Lyapunov method is adopted for designing the controller. A new decision method of the asymptotic stability of all sliding planes is proposed, and two approaches for designing the 2nd sliding surface are given. Matlab simulations and experiments of a rotary inverted pendulum system show the validity and effectiveness of the proposed controller and the decision method.

关 键 词：快速终端滑模控制 变结构控制 旋转式倒立摆 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]