基于预见与PI补偿的不确定非线性系统鲁棒滑模控制  

Robust sliding mode control for uncertain nonlinear systems based on preview and PI compensation

作　　者：兰永红[1] 吴瑾怡 周宇玺 LAN Yong-hong;WU Jin-yi;ZHOU Yu-xi(School of Automation and Electronic Information,Xiangtan University,Xiangtan Hunan 411105,China;Wu Ling Power Corporation,Changsha Hunan 410000,China)

机构地区：[1]湘潭大学自动化与电子信息学院,湖南湘潭411105 [2]五凌电力有限公司,湖南长沙410000

出　　处：《控制理论与应用》2023年第11期1999-2006,共8页Control Theory & Applications

基　　金：国家自然科学基金项目(61573298);湖南省自然科学基金项目(2020JJ6037)资助。

摘　　要：针对一类匹配不确定非线性连续时间系统,本文提出一种具有预见与PI补偿的鲁棒滑模控制设计方法.首先,为提高系统的跟踪性能和鲁棒性,在常规的滑模控制基础上,引入前馈预见与PI控制器.然后,通过增加扩展系统状态变量方法,构造一个包含可预见的目标信号的不确定增广系统,并将控制器的设计问题转化为增广系统的稳定性问题.在此基础上,针对标称增广系统,应用最优控制原理,设计最优预见PI控制器;针对不确定增广系统,应用变结构控制方法,设计最优预见PI滑模控制器,实现不确定系统的鲁棒调节.所得结果推广和包含了已有文献中的一些结果.最后,数值仿真验证所提方法的有效性.For a class of nonlinear continuous time systems with matching uncertainty,a robust sliding mode control design method with preview and PI compensation is proposed.Firstly,in order to improve the tracking performance and robustness of the system,feedforward preview controller and PI controller are introduced on the basis of conventional sliding mode control.Then,by adding the extended system state variable method,an uncertain augmented system with predictable target signals is constructed,and the controller design problem is transformed into the stability problem of the augmented system.On this basis,the optimal preview PI controller is designed by using the optimal control principle for the nominal augmented system.For the uncertain augmented system,based on the integral sliding mode control and optimal preview PI control method,an integrated controller is designed to achieve robust adjustment of the uncertain system.The results generalize and include some of the results in the literature.Finally,the effectiveness of the devised method is verified by simulation analysis.

关 键 词：预见控制 PI控制 不确定非线性系统 滑模控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]