时变终端滑模自适应有限时间控制算法  

Time-Varying Terminal Sliding Mode Adaptive Finite Time Control Algorithm

作　　者：赵建堂[1] ZHAO Jian-tang(College of Mathematics and Information Science,Xianyang Normal University,Xianyang 712000,China)

机构地区：[1]咸阳师范学院数学与信息科学学院,陕西咸阳712000

出　　处：《测控技术》2020年第7期117-121,共5页Measurement & Control Technology

基　　金：陕西省教育厅项目(11JK0513)。

摘　　要：为实现非线性系统输出对期望轨迹的有限时间内精确跟踪,提出一种有限时间鲁棒控制算法。通过设计一种无到达过程的时变终端滑模面,在保证有限时间收敛的基础上,消除了传统滑模控制中固有的稳态误差,实现系统输出对期望轨迹的精确跟踪。设计了自适应更新律补偿由参数摄动导致的系统扰动,增强系统对内部未知参数摄动的鲁棒性。对比仿真结果表明:时变终端滑模控制比线性滑模控制的轨迹跟踪时间快41.5%;线性滑模控制器下的轨迹跟踪稳态误差为0.005,时变滑模控制器使轨迹跟踪的稳态误差降为0,实现精确跟踪。A finite time robust control algorithm is proposed for nonlinear system to realize the output tracking of the desired trajectory accurately in finite time.By designing the time-varying terminal sliding mode surface with no arrival process,on the basis of ensuring finite time convergence,the inherent steady-state error of the traditional sliding mode controllers is eliminated,it makes sure the output of system can track the desired trajectory accurately.An adaptive update law is designed to compensate the system disturbance caused by parameter’s perturbation,and enhance the robustness of the system to the internal unknown parameter perturbation.Numerical simulation results show that the trajectory tracking time of time-varying terminal sliding mode controller is 41.5%faster than it of the linear sliding mode controller,the steady-state error of the trajectory tracking under the linear sliding mode controller is 0.005,and the time-varying sliding mode controller reduces the steady-state error of trajectory tracking to 0,and achieves accurate tracking.

关 键 词：非线性系统 滑模控制 自适应控制 有限时间控制 时变终端滑模 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]