非奇异终端滑模控制系统的设计方法  

Design method of non-singular terminal sliding mode control systems

作　　者：冯勇[1] 鲍晟[1] 余星火[2] 

机构地区：[1]哈尔滨工业大学电气工程系,黑龙江哈尔滨150001 [2]中昆士兰大学信息与通讯学院

出　　处：《控制与决策》2002年第2期194-198,共5页Control and Decision

摘　　要：提出一种全局非奇异终端滑模控制器 ,可用于带有参数不确定和外部扰动的二阶非线性系统。证明了系统从任意初始状态到达滑模的时间和在滑模上到达平衡点的时间均为有限 ,分析了终端滑模控制用于不确定性系统的跟踪精度 ,推导了系统跟踪精度和用于消除抖振的饱和函数宽度之间的数学关系。根据给定的跟踪精度 ,可设计出合适的饱和函数。A global non singular terminal sliding mode controller is presented for second order nonlinear dynamic systems with parameter uncertainty and external disturbance. By using a new terminal sliding mode surface, a control law with global non singularity is obtained. Both the time to reach the sliding mode surface from any initial system state and the time to reach the equilibrium point when in the sliding mode, are proved to be finite. The problem of precision in tracking is also explored in the case that terminal sliding mode control is applied to uncertain dynamic systems. A mathematical relationship between the width of the saturation function and the resultant precision in tracking is formulated. By specifying the precision of tracking that is required, an appropriate saturation function to eliminate chattering is designed. Simulation results are presented to validate the analysis.

关 键 词：非奇异终端滑模控制系统 设计方法 变结构控制 有限时间控制 轨迹跟踪 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] O231[自动化与计算机技术—控制科学与工程]