基于新型趋近律的欠驱动系统解耦滑模控制  

Decoupled Sliding Mode Control for Underactuated Systems Based on Novel Reaching Law

作　　者：岳聪聪 于海生[1,2] 孟祥祥 YUE Congcong;YU Haisheng;MENG Xiangxiang(College of Automation,Qingdao University,Qingdao 266071,China;Shandong Province Key Laboratory of Industrial Control Technology,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071 [2]青岛大学山东省工业控制技术重点实验室,山东青岛266071

出　　处：《控制工程》2024年第2期295-300,共6页Control Engineering of China

基　　金：国家自然科学基金资助项目(61573203);山东省自然科学基金资助项目(ZR2021MF005)。

摘　　要：针对二自由度欠驱动系统的控制问题,采用解耦的控制方法,设计了一种新型解耦滑模控制策略。考虑到滑模控制引起的系统抖振以及收敛速度慢的问题,提出了一种新型多幂次趋近律。该趋近律的第3个幂次项的指数参数设计为与滑模面相关的分段函数,第四项设计为滑模面的指数函数。控制器可以依据系统状态距离滑模面的远近自动调节参数,在不同的趋近阶段获得不同的趋近速度。以欠驱动倒立摆系统为控制对象,将该控制策略在MATLAB/Simulink平台上进行验证。仿真结果表明,提出的控制策略可以提高欠驱动系统的收敛速度,有效减小系统抖振和稳态误差。For the control problem of the two degree of freedom underactuated systems,a novel decoupled sliding mode strategy is designed based on the decoupled control method.Considering the chattering and slow convergence caused by sliding mode control,a novel multi-power reaching law is proposed.The exponential parameter of the third power term of the reaching law is designed as a piecewise function related to the sliding mode surface,and the fourth term is designed as an exponential function of the sliding mode surface.The controller can automatically adjust the parameters according to the distance between the system states and the sliding mode surface and obtain different approaching speed in different approaching stages.Taking underactuated inverted pendulum system as the control plant,the proposed control strategy is verified on MATLAB/Simulink platform.The simulation results show that the proposed control strategy can improve the convergence speed of the underactuated pendulum system,reduce the chattering and steady-state error of the system effectively.

关 键 词：欠驱动系统 解耦控制 新型趋近律 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]