基于非线性干扰补偿的倒立摆反演终端滑模控制  

Backstepping terminal sliding mode control for inverted pendulum with nonlinear disturbance compensation

作　　者：王红梅[1,2] 张明路[1] 张小俊[1] 孟广柱[2] 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]山东理工大学电气与电子工程学院,山东淄博255049

出　　处：《河北工业大学学报》2012年第2期5-9,共5页Journal of Hebei University of Technology

基　　金：国家自然科学基金(61075097);河北省自然科学基金(E2010000049);天津市自然科学基金(12JCYBJC12100)

摘　　要：针对倒立摆控制系统既是非线性系统,又存在干扰及参数不确定的情况,提出了基于干扰补偿的反演终端滑模控制.充分利用反演与终端滑模控制的优点,在反演滑模控制的最后一步,采用终端滑模面取代传统的线性滑模面,使误差快速收敛到零,从而提高控制精度.同时,利用非线性干扰观测器对干扰信号进行估计,并进行前馈补偿,提高系统的抗干扰能力.仿真结果表明所用方法的有效性.To the situation that pendulum system is nonlinear system and exist disturbance and uncertain parameters, the backstepping terminal sliding mode control with disturbance compensation is proposed. In order to develop the advantages of backstepping and terminal sliding mode control, linear sliding surface is displaced by terminal sliding surface in the last step ofbackstepping, which can make error to zero fast and enhance the control accuracy. Nonlinear disturbance observer is used to estimate disturbance signals, and then disturbance is feed-forward compensated, which can greatly improve the antiinterference ability. The simulation results show the way is effective.

关 键 词：干扰补偿 反演 终端滑模 倒立摆 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]