高阶滑模微分器的分析与改进  

Analysis and improvement of higher-order sliding mode differentiator

作　　者：蒲明[1] 吴庆宪[1] 姜长生[1] 程路[1] 

机构地区：[1]南京航空航天大学自动化学院模式识别与智能控制实验室,南京210016

出　　处：《控制与决策》2011年第8期1136-1140,1146,共6页Control and Decision

基　　金：国家自然科学基金项目(90716028,60974106)

摘　　要：首先采用Terminal吸引子函数代替原不连续函数,以避免滑模微分器的抖振;然后针对现有文献中高阶滑模微分器设计参数选取苛刻这一问题,放宽了设计参数选择范围,并分不同情况证明了高阶滑模微分器的稳定性.在此基础上,给出了高阶滑模微分器估计误差的上界与设计参数和滑模微分器阶次的关系式;通过对设计参数的选取和系统整体结构的分析,提出了高阶滑模微分器减小估计误差且更适于工程应用的设计方法,并给出所需条件.仿真结果表明了所得结论的正确性和有效性.Firstly, the discontinuous function is substituted by Terminal attractor function to eliminate chattering. To solve the problem that it is difficult to choose proper design parameters for higher-order differentiator, the range of design parameters is relaxed and the stability of higher-order differentiator in different conditions is proved. By analyzing design parameters and system structure, a design method which is more suitable for engineering application to reduce estimation error is proposed and the conditions needed are given. Finally, the simulation results show the effectiveness and correctness of these conclusions.

关 键 词：高阶滑模微分器 稳定性证明 减小误差 去除抖振 改进 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]