二阶滑模变结构控制系统的滑模到达条件  

Reaching condition of sliding mode in second-order sliding mode variable structure control systems

作　　者：袁赣南[1] 左志丹[1,2] 曲桂婷[1] 纪红[1] 

机构地区：[1]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001 [2]华中光电技术研究所,湖北武汉430223

出　　处：《华中科技大学学报（自然科学版）》2013年第6期70-75,共6页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(61001154)

摘　　要：为了削弱经典滑模变结构控制系统的抖振、简化二阶滑模变结构控制器的计算过程,提出了一个二阶滑模变结构控制系统的滑模到达条件.运用李雅普诺夫稳定性理论和常微分方程理论,得到了控制系统在该到达条件下的两个结果:系统相轨迹能实现在有限时间内收敛于滑动模态,控制系统具有较好的鲁棒性.最后通过该到达条件设计了系统的变结构控制器.仿真结果表明该到达条件能有效抑制系统抖振,并且具有良好的鲁棒性.In order to suppress the system chattering exist in the classical sliding variable structure control and simplify the computational process of second-order sliding variable structure controller, a reaching condition of second-order sliding variable structure control was proposed. When the control system was under the reaching condition, two results were got by applying the ordinary differential e- quations theory and Lyapunov stability theory： the one is the system phase trajectory can converge to the sliding mode in finite time; the other is the control system has excellent robustness. Finally, a system variable structure controller was designed with the reaching condition. Simulation results show that the reaching condition with excellent robustness can suppress the system chattering effectively.

关 键 词：二阶滑模控制 仿射非线性系统 到达条件 抖振 李雅普诺夫函数 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]