基于新型趋近律的板球系统反步滑模最优控制  

Backstepping sliding mode optimal control of ball and plate system based on new reaching law

作　　者：徐鹏 向凤红[1] 李江峰 XU Peng;XIANG Feng-hong;LI Jiang-feng(Faculty of Information Engineering and Automation,Kunming University of Science and Technology,Kunming 650500,Yunnan,China)

机构地区：[1]昆明理工大学信息工程与自动化学院,云南昆明650500

出　　处：《云南大学学报（自然科学版）》2023年第3期590-597,共8页Journal of Yunnan University(Natural Sciences Edition)

基　　金：国家自然科学基金(62173169).

摘　　要：针对板球系统控制精度低、鲁棒性差和响应慢等问题,提出一种基于新型趋近律的反步滑模最优控制方案.首先,用跟踪误差与虚拟控制量设计滑模面;其次,将反步法与滑模控制相结合设计新型趋近律,由此设计控制器;然后,采用Lyapunov理论证明整个系统的稳定性;最后,通过改进粒子群算法寻找一组新型趋近律的最优参数,实现最优控制.仿真实验结果表明,提出的控制策略能消除误差提高系统控制精度,系统调节时间为0.2 s,能加快系统响应速度,增强了系统鲁棒性,较好地抑制了抖振,验证了所提控制方案的可行性.Aiming at the problems of low control accuracy,poor robustness,and slow response of the ball and plate system,an optimal backstepping sliding mode control scheme is proposed based on the new reaching law.Firstly,the sliding mode surface is designed by tracking error and virtual control quantity.Secondly,backstepping and sliding mode control are combined,and a new reaching law is designed,which creates the controller.Then,the stability of the whole system is proved by the Lyapunov theory.Finally,this paper finds a set of optimal parameters of the new reaching law by improving the Particle Swarm Optimization(PSO)algorithm to achieve optimal control.The simulation results show that the proposed control strategy can eliminate errors and improve control accuracy.The system adjustment time is 0.2 s,which can speed up the system's response speed.It enhances its robustness and restricts the chattering engendered by the system.These results verify the feasibility of the proposed control scheme.

关 键 词：板球系统 反步法 滑模控制 趋近律 粒子群算法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]