一种固定时间收敛模型参考终端滑模控制方法  

A Model Reference Terminal Sliding Mode Control Method With Fixed-time Convergence

作　　者：张骁骏 袁夏明[2] 王向阳[2] 朱纪洪 李春文[1] ZHANG Xiao-Jun;YUAN Xia-Ming;WANG Xiang-Yang;ZHU Ji-Hong;LI Chun-Wen(Department of Automation,Tsinghua University,Beijing 100084;Department of Computer Science and Technology,Tsinghua University,Beijing 100084;Department of Precision Instrument,Tsinghua University,Beijing 100084)

机构地区：[1]清华大学自动化系,北京100084 [2]清华大学计算机科学与技术系,北京100084 [3]清华大学精密仪器系,北京100084

出　　处：《自动化学报》2022年第3期712-723,共12页Acta Automatica Sinica

基　　金：国家自然科学基金(61673240,61603210)资助。

摘　　要：针对一类具有模型不确定性和外部扰动的时变非线性系统,基于模型参考控制方法,设计了具有固定时间收敛特性的终端滑模控制器.首先,提出一种带有输入饱和限幅和补偿信号滤波的模型参考控制结构;然后针对广义误差信号,采用新型终端滑模面设计了补偿控制器,较好地平衡靠近和远离平衡点的收敛速度.基于李雅普诺夫方法证明了闭环系统的稳定性和固定时间收敛特性,并给出了收敛时间上界.最后将该方法应用到含有极限环的非线性系统跟踪控制中,仿真结果验证了该方法的有效性.Based on model reference method,a nonsingular terminal sliding-mode control method with fixed time convergence is proposed for a class of time-varying nonlinear systems with model uncertainties and external disturbances.Firstly,a model reference controller structure considering input saturation and compensation signal filtering is proposed.Then a sliding mode controller based on a novel nonlinear terminal sliding mode manifold is constructed for generalized errors,which balances the convergence speed near and away from the equilibrium point.The fixed time convergence and stability of closed-loop system are proved with the Lyapunov method,and the upper bound of convergence time is obtained.Finally,the method proposed is applied to tracking control of nonlinear systems with limit cycle.The simulation results verify its effectiveness.

关 键 词：固定时间收敛 模型参考控制 终端滑模控制 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]