一类输入受限的不确定非仿射非线性系统二阶动态terminal滑模控制  

Second order dynamic terminal sliding mode control for a class of nonaffine nonlinear systems with input constraint

作　　者：张强[1] 袁铸钢[1] 许德智 

机构地区：[1]济南大学自动化与电气工程学院,济南250022 [2]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《控制与决策》2016年第9期1537-1545,共9页Control and Decision

基　　金：国家自然青年科学基金项目(61403161;61503156);山东省自然青年科学基金项目(ZR2012FQ030);济南大学博士基金项目(XBS1459)

摘　　要：针对一类输入受限的不确定非仿射非线性系统跟踪控制问题,提出一种二阶动态terminal滑模控制策略.在不损失模型精度,并考虑系统输入饱和受限的前提下,给出一种适用于全局的不确定非仿射非线性系统近似方法.提出小波小脑模型干扰观测器设计方法,实现复合扰动的有效逼近.构造辅助系统分析输入饱和对跟踪误差的影响.通过构造基于PI滑模面的terminal二阶滑模面,给出二阶动态terminal滑模控制器设计过程,克服了传统滑模的抖振问题.仿真结果验证了所提出方法的有效性.A second order dynamic terminal sliding mode control strategy is proposed for a class of uncertain non-affine nonlinear systems with input constraint. Firstly, without loss of the accuracy of the model and considering the input saturation,a global approximation method is presented. Then, a disturbance observer based on the wavelet cerebellar model articulation controller is designed in order to ensure the effective approximation for unknown compound disturbances. Subsequently, An auxiliary system is constructed to analyze the influence of the input saturation on the tracking error. In order to overcome the chattering problem in the traditional sliding mode, the design process of second order dynamic terminal sliding mode controller is given by constructing terminal sliding mode surface based on the PI sliding mode surface. Finally, the simulation results show the good tracking control performance of the proposed method.

关 键 词：非仿射非线性系统 输入饱和 干扰观测器 小波小脑模型 二阶动态terminal滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]