Robust Nonsingular Fixed Time Terminal Sliding Mode Control for Atmospheric Pollution Detection Lidar Scanning Mechanism  

作　　者：KANG Yu YANG Yuxiao CHEN Cai LüWenjun ZHAO Yunbo 

机构地区：[1]Department of Automation,University of Science and Technology of China,Hefei 230027,China [2]Institute of Advanced Technology,University of Science and Technology of China,Hefei 230027,China [3]State Key Laboratory of Fire Science,University of Science and Technology of China,Hefei 230027,China

出　　处：《Journal of Systems Science & Complexity》2023年第2期500-523,共24页系统科学与复杂性学报（英文版）

基　　金：supported by the National Key Research and Development Project of China under Grant Nos.2018AAA0100800 and 2018YFE0106800;the National Natural Science Foundation of China under Grant Nos.61903353,61725304,and 1761673361;Major Science and Technology Project of Anhui Province under Grant No.912198698036;SINOPEC Programmes for Science and Technology Development under Grant No.PE19008-8;the Fundamental Research Funds for the Central Universities under Grant No.WK2100000013。

摘　　要：A robust nonsingular fixed time terminal sliding mode control scheme with a time delay disturbance observer is proposed for atmospheric pollution detection lidar scanning mechanism(APDL-SM)system.Distinguished from the conventional terminal sliding mode control methods,the authors design a novel fixed-time terminal sliding surface,the convergence time of sliding mode phase of which has a constant upper bound that is designable by adjusting only one parameter.Moreover,in order to overcome the problem of unknown upper bound of lumped uncertainty including model uncertainty,friction effect and external disturbances from the port environment,the authors propose a time delay disturbance observer to provide an estimation for the system lumped uncertainty.By using the Lyapunov synthesis,the explicit analysis of the convergence time upper bound are performed.Finally,simulation studies are conducted on the APDL-SM system to show the fast convergence rate and strong robustness of the proposed control scheme.

关 键 词：Atmospheric pollution detection lidar fixed time terminal sliding mode time delay disturbance observer tracking control 

分 类 号：TN958.98[电子电信—信号与信息处理] X831[电子电信—信息与通信工程]