不确定非线性系统快速终端滑模控制  

Back-Stepping Fast Terminal Sliding Mode Control for Uncertain Nonlinear Systems

作　　者：江道根[1] 沈甦 李家豪 JIANG Daogen;SHEN Su;LI Jiahao(Ningbo City College of Vocational Technology,Ningbo,Zhejiang 315100,China;Ningbo Technician College,Ningbo,Zhejiang 315000,China)

机构地区：[1]宁波城市职业技术学院,浙江宁波315100 [2]宁波技师学院,浙江宁波315000

出　　处：《自动化应用》2024年第6期1-5,8,共6页Automation Application

基　　金：2023年浙江省高校访问工程师校企合作项目“Delta并联机器人高精度控制方法研究及其教学实验装备研发”(FG2023265);2023年浙江省教育厅一般科研课题项目“新型有限时间快速终端滑模控制及其应用研究”(ZZT23108);宁波城市职业技术学院一般科研课题项目(ZZX22146)。

摘　　要：针对界未知的非匹配不确定非线性系统轨迹快速跟踪控制,设计非线性干扰观测器(NDO)的反演自适应终端滑模控算法。首先设计子系统干扰观测器来确定界未知非匹配项补偿量,并结合子系统的Lyapunov函数求出反演控制中虚拟控制律,并运用指令滤波器解决虚拟项求导所带来的微分膨胀缺陷;再设计系统的非奇异快速终端滑模面并给出建模误差不确定性的自适应律,继而求出系统总控制律以确保总闭环系统有限时间全局渐近稳定;最后机器人动力学仿真案例表明,所设计的控制器能实现对指定轨迹的快速稳定跟踪,控制量光滑弱抖振,并对非匹配干扰具有较强的鲁棒性。Aiming at the trajectory fast tracking control of non-matching uncertain nonlinear systems with unknown bounds,a nonlinear disturbance observer(NDO) back-stepping adaptive terminal sliding mode control strategy is proposed.First,the subsystem interference observer is designed to determine the compensation of unknown non-matching items,and the virtual control law in the back-stepping control is obtained by combining the Lyapunov function of the subsystem.Moreover,the command filter is used to solve the differential expansion problem caused by the derivative of virtual item.Then,the nonsingular fast terminal sliding mode surface of the system is designed and the adaptive law of modeling error uncertainty is given,and then the general control law of the system is founded to ensure fast global asymptotic stability of the total closedloop system.Final,robot dynamics simulation shows that the type of nonlinear system can achieve stable tracking of the specified trajectory within a limited time under this control strategy,the control amount is smooth and weak chattering,and it has strong robustness for non-matching interference.

关 键 词：不确定非线性系统 快速终端滑模控制 机器人动力学 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]