基于隐式积分的广义离散趋近律  

Generalized discrete reaching law based on implicit integration

作　　者：王聪[1] 夏红伟[1] 任顺清[1] WANG Cong;XIA Hong-wei;REN Shun-qing(School of Astronautics,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学航天学院,哈尔滨150001

出　　处：《控制与决策》2023年第10期3003-3008,共6页Control and Decision

基　　金：国家重点研发计划项目(2020YFC2200600);天津市自然科学基金重点项目(19JCZDJC32300)。

摘　　要：针对传统基于前向欧拉近似的离散趋近律存在数值抖振的问题,首先,提出一种衍生于后向欧拉积分的广义离散趋近律,该广义离散趋近律具有全局无抖振收敛特性,并释放更多的参数设计自由度;然后,揭示趋近律参数对滑模变量收敛速率的影响关系,为参数整定提供理论依据;最后,在考虑系统不确定性时,给出滑模面最终的边界层,验证所设计的趋近律可同时确保系统的快速瞬态响应和高精度控制.数值仿真验证了所提出算法的有效性.A novel backward Euler integration-based generalized discrete reaching law is proposed for the numerical chattering in the traditional forward Euler approximation of reaching law.Firstly,the proposed reaching law exhibits globally chattering-free convergence,and releases more freedom degrees for parameter design.Moreover,the influence relationship of parameters on the convergence rate of sliding variables is established,which provides a theoretical foundation for parameter tuning.Finally,when taking into account the uncertainty of systems,the final boundary layer of sliding surface is deduced,and it is proved that the designed reaching law can guarantee the fast transient response and high-precision control of the closed-loop system at the same time.Numerical simulations validate the effectiveness of the proposed algorithm.

关 键 词：滑模控制 趋近律 隐式积分算法 扰动补偿 离散时间系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]