带有非线性不确定奇异系统的积分滑模控制  

Integral sliding mode control for singular systems with nonlinear uncertainties

作　　者：郭壁垒[1] 苏宏业[1] 柳向斌[1] 刘之涛[1] 

机构地区：[1]浙江大学工业技术国家重点实验室智能系统与控制研究所,浙江杭州310027

出　　处：《控制理论与应用》2010年第7期873-879,共7页Control Theory & Applications

基　　金：国家创新研究群体科学基金资助项目(60721062);国家重点基础研究发展计划资助项目(2007CB714000)

摘　　要：针对一类含有非线性不确定的奇异系统,提出了一种面向性能的鲁棒控制器.控制器由3部分组成:积分滑模控制、附加的非线性控制及复合非线性反馈控制.积分滑模控制可将匹配不确定完全抵消并使系统轨迹进入理想滑模;附加的非线性控制用来抑制理想滑动模态上非匹配不确定对系统稳定性和性能的影响;复合非线性反馈控制则保证闭环系统输出按性能要求渐近地跟踪参考输入信号.最后通过算例说明所提算法的有效性.A performance-oriented robust controller is proposed for a class of singular systems with matched and unmatched nonlinear uncertainties. The control scheme consists of 3 control terms： the integral sliding mode control （ISM）, the additional nonlinear control and the composite nonlinear feedback control（CNF）. The ISM control term rejects matched uncertainties completely and drives the system trajectory to the ideal sliding mode. The additional nonlinear control term attenuates the unmatched nonlinear uncertainties which exist in ideal sliding mode and may affect the performance of the sliding mode. The CNF control term guarantees the output tracking of reference input signal according to the prescribed specifications. Finally, numerical examples are given to illustrate the effectiveness of the proposed approach.

关 键 词：奇异系统 匹配不确定 非匹配不确定 积分滑模 复合非线性反馈控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]