板球系统自适应解耦滑模控制  

Adaptive decoupled sliding mode control for the ball and plate system

作　　者：韩京元[1,2] 田彦涛[1,3] 孔英秀[4] 张英慧[1] 李津淞 

机构地区：[1]吉林大学通信工程学院,长春130022 [2]理科大学控制科学系,朝鲜平壤526890 [3]吉林大学工程仿生教育部重点实验室,长春130022 [4]吉林大学机械科学与工程学院,长春130022

出　　处：《吉林大学学报（工学版）》2014年第3期718-725,共8页Journal of Jilin University:Engineering and Technology Edition

基　　金：高等学校博士学科点专项科研基金项目(20060183006);国家自然科学基金项目(60974067);吉林大学'985工程'仿生科技创新平台项目

摘　　要：针对非线性板球系统中小球的镇定和跟踪控制问题,提出了一种采用结合系数的自适应解耦模糊滑模控制器设计方法。将板球系统分解成4个子系统,分别对每个子系统定义了滑模面,利用结合系数将滑模面结合,基于Lyapunov稳定性理论,构造了自适应模糊规则来调节滑模结合系数,从而实现了板球系统的稳定控制,并避免了复杂的计算。本文对所提出的控制方法进行了板球系统的仿真实验验证。仿真结果表明,此方法能够较好地实现非线性不确定系统的镇定控制和轨迹跟踪问题。A design method of decoupling adaptive sliding mode controller unsing integrated factor is proposed for trajectory tracking and stabilization control of the Ball and Plate System （BPS）. In this approach, the nonlinear system is decomposed to four subsystems and the state response of each subsystem is designed by a corresponding sliding surface. In the design, the integrated factor is adopted to combine the sliding surface, which is decided by an adaptive fuzzy algorithm based on the Lyapunov stability theory. Thus the stability of the system is guaranteed and the complex calculation is avoided. The proposed design method is applied to investigate Ball and Plate Vision System. The simulation results demonstrate that the proposed approach is effective in resolving the stabilization control and trajectory tracking control tasks of nonlinear and under-- actuated system with uncertain terms.

关 键 词：自动控制技术 板球系统 滑模控制 自适应模糊逻辑 镇定控制 轨迹跟踪控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]