基于扰动观测器的不确定非线性系统非奇异终端滑模控制  

Nonsingular terminal sliding mode control with disturbance observer for uncertain nonlinear systems

作　　者：袁雷[1] 肖飞[1] 沈建清[1] 陈明亮[1] 侍乔明[2] 

机构地区：[1]海军工程大学舰船综合电力技术国防科技重点实验室,武汉430033 [2]西安交通大学电气工程学院,西安710049

出　　处：《控制与决策》2014年第2期353-357,共5页Control and Decision

基　　金：国家973计划项目(2012CB215103);国家自然科学基金创新研究群体科学基金项目(50721063);教育部新世纪优秀人才支持计划项目(NCET-11-0871)

摘　　要：针对一类SISO非线性不确定系统,提出一种基于扰动观测器的非奇异终端滑模(NTSM)控制策略.在保证控制器非奇异性的情况下,设计了一种改进的NTSM函数,理论分析证明了到达滑模面的时间小于传统NTSM控制算法的到达时间.同时为了消除系统扰动量对控制器抖振的影响,设计了一种线性扰动观测器以降低滑模切换项的增益,并采用Sigmoid函数来替代传统的符号函数.仿真结果表明了所得结论的正确性和有效性.A nonsingular terminal sliding mode（NTSM） control scheme with the disturbance observer is presented for second order uncertain SISO nonlinear systems. An improved NTSM function is proposed to improve the convergence rate of reaching the sliding surface, and it is proved that the reaching time of the proposed method is smaller than the traditional NTSM. To estimate the chattering phenomenon caused by disturbance influence variable in the system, a linear disturbance observer is employed to reduce the switching term gain of sliding mode control, and a Sigmoid function is used to replace the traditional sign function. Simulation results show the effectiveness and correctness of these conclusions.

关 键 词：扰动观测器 终端滑模 奇异问题 抖振 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]