鲁棒滑模变结构重复控制系统设计  

Design of Robust Sliding Mode Variable Structure Repetitive Control System

作　　者：李超逸[1] 周兰[1] LI Chao-yi;ZHOU Lan(School of Information and Electrical Engineering,Hunan University of Science and Technology,Xiangtan 411201,China)

机构地区：[1]湖南科技大学信息与电气工程学院

出　　处：《控制工程》2018年第8期1471-1476,共6页Control Engineering of China

基　　金：国家自然科学基金项目(61673167,61203010);湖南省研究生科研创新项目(CX2016B554)

摘　　要：针对一类含有非周期性扰动的不确定线性系统,提出一种基于滑模变结构重复控制系统设计方法。首先,建立基于改进型重复控制器、反馈控制器和被控对象的增广系统结构模型,获得其状态空间模型。然后,在此基础上,针对增广控制对象,在保证系统稳定的前提下,设计滑模控制器,利用Lyapunov稳定性原理推导出滑模变结构重复控制系统稳定的线性矩阵不等式条件;最后,通过仿真实验验证方法的有效性。This paper concerns the problem of designing a robust sliding-mode based modified repetitive-control system（MRCS） for a class of uncertain plants with aperiodic disturbances. An augmented system is first constructed, which contains a repetitive controller, a sliding mode controller and a feedback controller. And its state-space model is presented. Next, the stability condition for the MRCS is established which can be directly used to design the parameters of the repetitive controller and the feedback controller. Then, for the augmented system, the Lyapunov stability theory is used to derive a linear-matrix-inequality（LMI） based robust stability condition. Based on the stability condition, a design algorithm for the gains of the sliding-mode controller is constructed. Finally, a numerical example demonstrates the validity of the method.

关 键 词：重复控制 滑模控制 线性矩阵不等式 

分 类 号：TP173[自动化与计算机技术—控制理论与控制工程]