考虑输入饱和的离散最优积分滑模控制  

Discrete-time optimal integral sliding mode control with input saturation

作　　者：李理[1] 刘杨[1] 陈兴林[1] 

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《控制与决策》2016年第7期1317-1320,共4页Control and Decision

基　　金：国家自然科学基金项目(51405097);国家科技重大专项基金项目(2009ZX02207)

摘　　要：针对含有匹配有界干扰的线性离散系统,提出一类最优积分滑模控制算法.在系统开环极点位于单位圆内(上)的前提下,考虑输入饱和,可以实现系统状态的半全局稳定.该算法是低增益反馈和积分滑模的有益结合,通过低增益反馈使输入饱和得到满足,通过滑模控制增强了系统对干扰的鲁棒性;另外,该算法可以使特定的性能指标达到最优,使系统稳态误差达到O(T^2)的量级.仿真结果验证了所提出算法的有效性.An optimal integral sliding mode control algorithm for linear discrete-time systems with matched bounded disturbances is proposed. Under the premise that poles of the open-loop system locate inside or on the unit circle, the scheme can semi-globally regulate the system in the presence of input saturation. The scheme is an effective combination of low-gain feedback and integral sliding mode, for it can satisfy the input limit via low-gain feedback and improve the robustness of the system to disturbances owing to sliding mode control. Moreover, the method can minimize the specific performance index and achieve O（T2） steady-state error. Simulation results show the effectiveness of the proposed method.

关 键 词：离散系统 最优积分滑模控制 输入饱和 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]