一种连续非奇异快速终端滑模控制方法  

A continuous nonsingular fast terminal sliding mode control method

作　　者：冒建亮[1,2] 李奇[1,2] 朱海荣[1,2] 

机构地区：[1]东南大学自动化学院,南京210096 [2]东南大学复杂工程系统测量与控制教育部重点实验室,南京210096

出　　处：《控制与决策》2016年第10期1873-1878,共6页Control and Decision

基　　金：国家国际科技合作专项项目(2015DFA10490);国家自然科学基金项目(51307089);江苏省普通高校研究生科研创新计划项目(KYLX15 0213)

摘　　要：为解决现有终端滑模控制算法在收敛速度和抖振方面的问题,提出一种连续非奇异快速终端滑模控制方法.采用变系数双幂次趋近率和非奇异快速终端滑模面相结合的设计方式,提高系统状态在趋近和滑动阶段的收敛速度.通过Lyapunov稳定性方法证明所提出的控制率可使得状态轨迹在扰动存在的情况下,在有限时间内快速收敛到一个区域.与传统方法相比,所提出的控制率是连续的,因此抑制了抖振,拥有更高的控制精度.将所提出的方法应用于光电稳定平台,仿真结果验证了算法的有效性.To solve the problems on the convergence rate and chattering existed in terminal sliding mode control, a continuous nonsingular fast terminal sliding mode controller is proposed. The double exponential reaching law with the variable coefficient is combined with the nonsingular fast terminal sliding mode manifold to improve the convergence rate during reaching and sliding phase. The states can converge rapidly to a zone in finite time in presence of perturbation, which is proved by using the Lyapunov stability theory. The proposed control law is essentially continuous such that the chattering is attenuated and the high precision is obtained. The proposed method is then applied to the photoelectric stabilized platform. Simulation results show the effectiveness of the proposed algorithm.

关 键 词：非奇异终端滑模控制 变系数双幂次趋近率 有限时间 扰动抑制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]