连续时间系统滑模趋近律的改进  

An improved sliding mode reaching law for continuous-time system

作　　者：姚中华[1] 孙跃[1] 唐春森[1] 王智慧[1] 戴欣[1] 

机构地区：[1]重庆大学自动化学院,重庆400044

出　　处：《重庆大学学报（自然科学版）》2013年第4期51-55,共5页Journal of Chongqing University

基　　金：国家自然科学基金青年基金资助项目(51007100);博士后特别资助项目(201104317)

摘　　要：分析了连续时间系统传统趋近律的优缺点,提出了一种新的趋近律.该趋近律以切换函数绝对值的取值1为界,切换函数绝对值大于1和小于或等于1时分别采用2种不同的趋近律,进一步加快了系统状态趋近切换面的速度,同时保留了指数趋近律当系统状态靠近切换面时速度渐缓有利于减小系统抖振及幂次趋近律平滑进入切换面的优点,并利用台车式倒立摆模型了作了仿真,仿真结果验证了新的趋近律的有效性。The advantages and disadvantages of traditional reaching laws for continuous-time systems are analyzed and a new reaching law is proposed.The new reaching law is based on a piecewise region of switching function.When the absolute value of the switching function is greater than one,a type of reaching law is in action.Otherwise,the other one is in action.As a result,the reaching velocity of the system’s state trajectory is promoted further,while the advantages of exponential reaching law and power rate reaching law are reserved,i.e.chattering is restrained when system’s state trajectory approaches the switching surface while the entry is smooth.Finally,the simulation results based on a car-type inverted pendulum show the effectiveness of the proposed new reaching law.

关 键 词：连续时间系统 变结构控制 趋近律 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]