改进NDO的板球系统自适应滑模抗扰控制  

Adaptive Sliding Mode Disturbance Rejection Control for Cricket System of Improved NDO

作　　者：杨立炜 李萍 夏国锋 王涛 YANG Liwei;LI Ping;XIA Guofeng;WANG Tao(School of Information Engineering,Xinjiang Institute of Technology,Aksu,Xinjiang 843000,China;Power Construction Corporation of China Kunming Research Institute,Kunming 650033,China)

机构地区：[1]新疆理工学院信息工程学院,新疆阿克苏843000 [2]中国电建集团昆明勘测设计研究院,昆明650033

出　　处：《计算机科学》2024年第S01期1169-1173,共5页Computer Science

基　　金：国家自然科学基金(61163051)。

摘　　要：为解决板球系统因受到外部负载扰动、摩擦力、交叉耦合干扰等不确定性扰动而跟踪精度不高的问题,提出一种基于改进的非线性干扰观测器(NDO)和非线性信息增益滑模控制策略。利用预设性能函数(PPF)对误差的变换技术,将误差限定在规定范围内,建立改进的NDO来估计不确定性扰动。运用精确的估计值来设计滑模控制器,滑模面包含一个修正项,可以降低扰动的影响,从而提高控制精度,并采用非线性信息增益设计自适应切换项增益,降低抖振的影响。最后,仿真表明改进的NDO能有效地估计扰动,改善了动态品质,所提控制方案提高了传统的NDO的控制精度和抗扰能力。To address the challenge of achieving high-precision tracking in a ball and plate system subject to uncertain distur-bances such as external loads,friction,and cross-coupling interference,this paper proposes an enhanced approach that combines an improved nonlinear disturbance observer(NDO)and a nonlinear information gain sliding mode control strategy.Utilizing error transformation techniques based on a prescribed performance function(PPF),we constrain the error within specified bounds,and introduce the improved NDO to estimate the uncertain disturbances accurately.We leverage the precise estimation to design a sliding mode controller with a corrective term on the sliding surface,which can reduce the impact of disturbances,and enhance control precision.Furthermore,we employ nonlinear information gain to adaptively adjust the switching gain,so as to mitigate chattering effects.Simulation results demonstrate that the enhanced NDO effectively estimates disturbances,leading to improved dynamic performance.The proposed control approach exhibits higher control precision and disturbance rejection capabilities.

关 键 词：板球系统 预设性能函数 非线性干扰观测器 不确定性扰动 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]