非匹配不确定MIMO线性系统的终端滑模控制  

Terminal sliding mode control of MIMO linear systems with unmatched uncertainties

作　　者：鲍晟[1] 冯勇[1] 郑雪梅[1] 

机构地区：[1]哈尔滨工业大学电气工程系,黑龙江哈尔滨150001

出　　处：《控制与决策》2003年第5期531-534,539,共5页Control and Decision

摘　　要：提出一种用于非匹配不确定MIMO线性系统的终端滑模控制方法。设计了特殊的终端滑模切换面和相应的控制策略,使得系统在有限时间内收敛到终端滑模面,在系统到达终端滑模面后保证系统的状态保持在终端滑模面上,并在有限时间内收敛到平衡点附近的邻域内。建立了该邻域的范围与系统的非匹配不确定性的范围以及终端滑模参数之间的数学关系,用于系统设计与分析。仿真结果验证了所提出方法的有效性和分析的正确性。A terminal sliding mode manifold and control methodology is proposed for MIMO linear systems with unmatched uncertainties. The system states are guaranteed to reach the sliding mode manifold in finite time, and converge to the neighborhood of the equilibrium point in finite time once they are on the sliding mode manifold. The mathematical relationship between the neighborhood of the equilibrium point and the range of the unmatched uncertainties and parameters of sliding mode is formulated, which can be used for the system design and analysis. Simulation results validate the design and the analysis.

关 键 词：终墙滑模 有限时闻收敛 匹配条件 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]