多Euler-Lagrange系统有限时间跟踪控制  

Finite-time tracking control for multi Euler-Lagrange system

作　　者：林晓涵 史小平[1] 邹世琦 李师轮 LIN Xiao-Han;SHI Xiao-Ping;ZOU Shi-Qi;LI Shi-Lun(Harbin Institute of Technology Control and Simulation Center,Harbin 150001,China;Harbin Institute of Technology School of Astronautics,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学控制与仿真中心,哈尔滨150001 [2]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《黑龙江大学工程学报》2020年第1期69-74,90,共7页Journal of Engineering of Heilongjiang University

基　　金：航天支撑技术基金项目。

摘　　要：为解决多Euler-Lagrange系统有限时间的跟踪控制问题,提出了一种基于非奇异终端滑模的有限时间跟踪控制方法。通过建立多Euler-Lagrange系统动力学跟踪误差模型,将引入连续超螺旋高阶控制项,与所提出的非奇异终端滑模面相结合,设计了一个基于超螺旋的非奇异终端滑模控制方法,使多Euler-Lagrange系统能够消除抖振现象,同时在有限时间内实现对期望目标的跟踪。通过选取合适的Lyapunov函数和相应的仿真证明了所设计控制方法的有效性。To solve the problem of the finite-time tracking control for multi Euler-Lagrange system,the finite-time tracking control method based on nonsingular terminal sliding mode surface is proposed.By establishing the tracking error dynamics model of the multi Euler-Lagrange system,by introducing a continuous super-twisting high-order term,and combining with the proposed nonsingular terminal sliding mode control,a novel control method based on the proposed super-twisting nonsingular terminal sliding mode is designed,in which enables the multi Euler-Lagrange system to eliminate the chattering phenomenon and track the desired trajectory in finite time,simultaneously.Finally,the effectiveness of the proposed control method is proved by selecting the appropriate Lyapunov function and the corresponding simulations.

关 键 词：多Euler-Lagrange系统 有限时间跟踪控制 非奇异终端滑模面 超螺旋滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]