一类不确定非线性系统的改进积分型滑模控制  

Improved integral sliding mode control for a class of nonlinear uncertain systems

作　　者：李鹏[1] 马建军[1] 李文强[1] 郑志强[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《控制与决策》2009年第10期1463-1466,1472,共5页Control and Decision

基　　金：国家自然科学基金项目(60374006)

摘　　要：针对一类不确定非线性系统的传统滑模控制,推导了滑模误差和稳态误差的范围.为了减小系统的稳态误差,同时防止积分饱和,设计了一种改进积分型滑模面.在边界层外,通过调节因子对积分项进行削弱,以防止在初始误差较大的条件下积分饱和引起的超调较大和调节时间较长的问题;在边界层内,采用传统积分以减小系统稳态误差.理论分析和仿真研究表明了所提改进积分型滑模控制方法的有效性.For the conventional sliding mode control of a class of nonlinear uncertain systems, the bounds on sliding mode error and steady-state error are deduced. In order to reduce the steady-state error while anti-windup, an improved intergral sliding surface is designed. Hence, large overshoots due to the large initial errors can be avoided. The integral action is reduced through adjust factor when the sliding variable is outside of the boundary layer, when the sliding variable is inside of the boundary layer, the integral action is completed in order to reduce the steady-state error. Theroretial analysis and simulation results show the effectiveness of the proposed improved integral sliding mode control scheme.

关 键 词：非线性系统 滑模控制 稳态误差 改进积分 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]