摘要
针对滑模控制中传统趋近律存在收敛速度慢、时间长和抖振严重等不足,提出一种利用双幂次趋近律提高系统状态收敛速度的设计方案.该双幂次趋近律无论在远离滑动模态还是在接近滑动模态的空间内均具有快速收敛能力.理论分析表明,该双幂次趋近律具有二阶滑模特性,当系统存在不确定性时,系统状态及其导数可以快速收敛到平衡零点的邻域内.仿真结果表明,双幂次趋近律与传统幂次趋近律、指数趋近律、快速幂次趋近律相比,具有更快的收敛速度和更好的运动品质.
A double power reaching law is proposed which can solve the problems in the traditional reaching law of the sliding mode control such as low convergence speed,long convergence time and severe chattering.The double power reaching law proposed which can reduce chattering has a fast speed either away from or approach to the sliding surface.It is indicated through theoretical analysis that the reaching law has the characteristic of second-order sliding mode,and the system state and its derivative can converge to a neighborhood of the origin quickly.Simulation results show that the reaching law proposed is faster than other reaching laws such as the traditional power reaching law,the exponential reaching law and the fast power reaching law.It also shows a better movement quality of the proposed reaching law.
出处
《控制与决策》
EI
CSCD
北大核心
2013年第2期289-293,共5页
Control and Decision
关键词
滑模控制
双幂次趋近律
二阶滑模
指数趋近律
快速幂次趋近律
sliding mode control
double power reaching law
second-order sliding mode
exponential reaching law
fast power reaching law
