一类非线性仿射系统的滑模降阶控制器设计  

Sliding mode reduced order controller design of a class of nonlinear affine systems

作　　者：蒋沅[1] 曾令武[1] 赵文龙[1] 

机构地区：[1]南昌航空大学信息工程学院,南昌330063

出　　处：《控制与决策》2013年第3期476-480,共5页Control and Decision

基　　金：国家自然科学基金项目(61164015);航空科学基金项目(2011ZA56021);江西省教育厅科技项目(GJJ12437);南昌航空大学博士启动基金项目(EA201104184)

摘　　要：针对一类非线性仿射系统的控制器设计问题,基于滑模变结构控制理论,提出一种新的控制器设计方法:滑模降阶方法.首先反复运用变结构控制理论对一类n阶的仿射非线性系统构造n-1个微分同胚变换函数和n-1个滑动流形,将初始系统降至一阶系统,并给出了变结构控制律;然后利用当前级与上一级控制输入的映射关系进行n-1次反推运算,即可得到初始系统的控制输入;最后通过仿真算例表明了所提出方法的有效性和可行性.A new controller design scheme called the reduced order of sliding mode for a class of nonlinear affine systems is proposed based on sliding mode control theory. Firstly, the sliding mode control theory is used repeatly for a class of n order nonlinear affine systems, n- 1 diffeomorphism transformation functions and n- 1 sliding manifolds are constructed. And in this way the original System can be put down to one order, and the variable structure control law is given. Then, by using the mapping relation between the current and higher levels of control input, n- 1 times backstepping operations are performed, and the original system control input can be achieved. Finally, the simulation example shows the effectiveness and feasibility of this design scheme.

关 键 词：仿射非线性系统 滑模控制 滑模降阶 微分同胚变换 反推运算 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]