一种快速收敛的固定时间非奇异终端滑模控制方法  

A fast-nonsingular terminal sliding mode control method with fixed-time stability guarantees

作　　者：田野[1] 蔡远利[1] 邓逸凡 TIAN Ye;CAI Yuanli;DENG Yifan(Institute of Control Engineering,Xi’an Jiaotong University,Xi’an 710049,China)

机构地区：[1]西安交通大学电信学部自动化科学与工程学院,西安710049

出　　处：《中国惯性技术学报》2020年第5期677-685,共9页Journal of Chinese Inertial Technology

基　　金：国家重点研发计划项目(2018YFB1700104);中国博士后基金(2018M643666)。

摘　　要：针对一类具有匹配不确定性和扰动的二阶非线性系统,设计了一种具有快速固定时间收敛特性的非奇异终端滑模控制方法。首先,基于固定时间稳定性理论,提出了一种新型的固定时间稳定系统;然后,基于此固定时间稳定系统,设计了快速收敛的固定时间非奇异终端滑模,并给出了其收敛时间上界。与传统有限时间收敛滑模相比,所设计固定滑模的收敛时间与系统初始系统状态无关,可以预先通过设计参数进行设置;此外,所提出的控制方案在收敛速度上优于现有典型固定时间滑模方法,并且以较低的控制能量获得更好的控制性能。应用于单级倒立摆跟踪和飞行器末制导问题,验证了所提出控制方法的有效性和优越性。For a class of second-order nonlinear systems in the presence of matched uncertainties and perturbations,a non-singular terminal sliding mode control method with fast fixed-time convergence is designed.Firstly,based on fixed-time stability theory,a novel stable system is proposed.Then,using the proposed fixed-time stable system,a fast fixed-time nonsingular terminal sliding surface is derived and the upper-bound of convergence time is given.The convergence time is independent of the initial system state and can be set in advance with the design parameters.Moreover,the proposed control scheme has an advantage in convergence rate over existing results and achieves better control performance with low control energy cost.The simulation results for a single inverted pendulum and terminal guidance are presented to validate the effectiveness and superiority of the proposed control scheme.

关 键 词：固定时间收敛 滑模控制 非奇异终端滑模 时变非线性系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]