高阶非线性系统的Term inal滑模控制  

Terminal sliding mode control for high-order nonlinear dynamic systems

作　　者：庄开宇[1] 张克勤[1] 苏宏业[1] 褚健[1] 

机构地区：[1]工业控制技术国家重点实验室,浙江大学先进控制研究所,浙江杭州310027

出　　处：《浙江大学学报（工学版）》2002年第5期482-485,539,共5页Journal of Zhejiang University：Engineering Science

基　　金：国家自然科学基金资助项目 (6993 40 3 0 ) ;浙江省自然科学基金重点资助项目 (ZD990 5 )

摘　　要：针对一类高阶非线性系统的跟踪问题 ,基于 L yapunov稳定性理论 ,提出了一种新的 Terminal滑模控制策略 ,给出了选择 n阶系统 Terminal滑模面的具体数学表达式 .该控制策略确保了闭环系统滑动阶段的存在性 ;Ter-minal滑模函数的选取保证了输出跟踪误差在有限时间内收敛到零 .此外 ,系统的初始状态在滑模面上 ,从而消除了滑模控制的到达阶段 ,进而确保了闭环系统的全局鲁棒性和稳定性 .最后通过一个仿真例子进一步说明了该控制策略的可行性和有效性 .A new terminal sliding mode control (SMC) technique was developed to deal with the tracking problem in a class of high order nonlinear dynamic systems. A mathematical expression to choose the terminal sliding surface for n order systems is proposed. A terminal SMC controller based on Lyapunov theory is designed to guarantee the existence of the sliding phase of the closed loop system,under which condition the output tracking error converges to zero in finite time and the reaching phase of SMC is eliminated. It is shown that the global robustness and stability of the closed loop system can be guaranteed with the proposed control strategy. The simulation results of a numerical example are also investigated to show the feasibility and the effectiveness of the new design method.

关 键 词：TERMINAL滑模控制 有限时间收敛 非线性系统 LYAPUNOV稳定性理论 全局鲁棒性 控制策略 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] O231.2[自动化与计算机技术—控制科学与工程]