小球平面系统的路径跟踪滑模控制  

Path Tracking Sliding Mode Control of Globule Plane System

作　　者：梁艳阳[1] 王姮[1] 张华[1] 熊莉英[1] 郭雪梅[1] 

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010

出　　处：《兵工自动化》2010年第6期75-77,84,共4页Ordnance Industry Automation

基　　金：西南科技大学博士研究基金(08zx011)

摘　　要：首先分析小球平面运动控制系统的特点,将路径跟踪控制分解为小球的位置控制问题和平面角度的控制问题。然后,主要针对小球的位置控制问题,基于小球运动系统的动力学模型和滑模控制的基本原理提出一种路径跟踪滑模控制算法,并通过李亚普诺夫稳定性定理证明了闭环系统的渐进稳定性。该滑模控制算法消除了小球在平面上运动时时变不确定摩擦力对控制性能的不良影响,提高路径跟踪控制的精度。最后,通过仿真实验对所提出的滑模控制算法的控制性能进行了验证。At first, the property of the globule plane control system is analyzed, and the path tracking control problem is divided into sub problems of globule position control and plane angle control. Afterwards, a path tracking sliding mode control algorithm is proposed for the globule position control based on dynamic model of the globule motion system and basic principle of sliding mode control, asymptotical stability of the close-loop system is proved mathematically through Lyapunov stability theory as well. The proposed sliding mode control algorithm eliminates the effect of time-varying uncertain friction while the globule is rolling on the plane surface, and thus the path tracking precision is improved. Finally, control performance of the proposed sliding mode control algorithm is validated by simulation experiment.

关 键 词：小球平面系统 路径跟踪 滑模控制 时变不确定性 李亚普诺夫稳定性定理 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置]