一种自适应全程滑模变结构控制器的研究与设计  

Research and Design of an Adaptive Global Sliding Mode Variable Structure Controller

作　　者：王传江[1] 孙秀娟[1] 

机构地区：[1]山东科技大学信息与电气工程学院,山东青岛266510

出　　处：《山东科技大学学报（自然科学版）》2009年第1期64-69,共6页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：山东省重大科技专项项目(2006GG1108097-23);山东省研究生教育创新计划项目(SDYY06052)

摘　　要：针对非线性不确定系统的控制问题,为了消除传统滑模变结构控制系统的到达运动并实现对系统不确定量的估算,设计了一种自适应全程滑模变结构控制器。通过设计一种动态非线性滑模函数,使系统从初始状态即可进入滑模运动,并在控制律的作用下使系统运动到期望状态,系统在响应的全过程均具有鲁棒性,克服了传统滑模变结构控制系统到达运动阶段不具有鲁棒性的缺点。通过设计一种自适应律实现对系统不确定量的辨识估计,以辨识结果实时调整控制器参数,大大削弱了系统的抖动。仿真结果表明该控制系统具有较强的鲁棒性能。In order to eliminate the reaching phase of traditional sliding mode variable structure control system and achieve the estimations of system uncertainties for the control of a nonlinear uncertain system, an adaptive global sliding mode variable structure controller （AGSMVSC） was designed by combining the global sliding mode variable structure control （GSMVSC） with adaptive control. The system state variables reached the sliding surface at the very beginning by means of designing a dynamic nonlinear sliding mode function, and moved to the expected state under the control of control law. The robustness was obtained during the whole response course, and the chattering was greatly alleviated by real-time adjusting controller＇s parameters with the estimated ones which were achieved by adaptive laws. Simulation results show that the control system has perfect robust performance.

关 键 词：非线性系统 全程滑模 变结构控制 自适应律 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]