有限时间区间内马尔可夫跳变系统的异步滑模控制  

Asynchronous sliding mode control for Markovian jumping systems in finite-time intervals

作　　者：魏长江 陈巧玉 WEI Changjiang;CHEN Qiaoyu(School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学电子电气工程学院,上海201620

出　　处：《上海工程技术大学学报》2023年第3期272-280,共9页Journal of Shanghai University of Engineering Science

基　　金：国家自然科学基金项目资助(61673257)。

摘　　要：针对马尔科夫跳变系统,讨论有限时间区间内异步滑模控制及其有限时间有界问题.针对系统存在状态不可测的非同步现象,基于隐马尔科夫模型,设计了模式相关滑模控制器,使得系统状态轨迹在规定的有限时间内被驱动到滑模面上.采用有限时间分析法,得到滑模动力学在到达阶段和滑动运动阶段的有限时间有界准则,获得异步控制器增益矩阵解的充分条件.最后,通过单连杆机器人手臂模型证明所得结果的有效性.The problem of asynchronous sliding mode control in finite-time intervals was studied for Markovian jumping systems.A mode-dependent sliding mode surface function was designed based on the hidden Markov model for the unmeasurable non-synchronization phenomenon.A sliding mode controller was designed to drive the state trajectory of the system to the specified sliding mode surface in a specified finite-time.Through the finite-time analysis method,the finite-time boundedness criterion of sliding mode dynamics in the arrival stage and sliding motion stage was gained,sufficient conditions for the solution of the asynchronous controller gain matrix were obtained.Finally,a single-link robot arm model was used to demonstrate the effectiveness of the results.

关 键 词：滑模控制 有限时间有界 隐马尔可夫模型 异步控制 马尔科夫跳变系统 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]