摘要
针对板球系统对期望轨迹的跟踪问题,提出了一种反演自适应动态滑模控制方法。考虑实际情况下外界干扰及不确定量的未知性,结合自适应控制对未知量边界进行估计。为了有效削弱对数学模型的依赖性,同时规避反演法中的微分大爆炸现象,引入动态面策略。考虑是否存在外界不确定干扰划分出两种实验环境,分别运用本文方法和动态滑模的方法进行了仿真实验。仿真结果表明,所设计控制器对系统参数摄动和外界干扰不敏感,该方法能较好地实现小球的轨迹跟踪,具有良好的动态跟踪性能,体现出较强的鲁棒性和自适应特性。
An adaptive dynamic sliding mode control method is proposed for the tracking of the expected trajectory of the ball and plate system. Considering the unpredictability of the external disturbance and the uncertainty in the actual situation, it combines with the adaptive control to estimate the unknown boundary. In order to effectively weaken the dependence on the mathematical model,the dynamic surface strategy is introduced to avoid the phenomenon of differential big explosion in inversion method. Considering whether there are any external uncertainties, the two experimental environments are divided into two kinds of experimental environ-ment, and the simulation experiment is carried out using the method of this paper and the method of dynamic sliding mode. The simulation results show that the designed controller is not sensitive to system parameter perturbation and external disturbance. The method can realize the trajectory tracking of the ball well, and has good dynamic tracking performance, which shows strong robustness and adaptive characteristics.
作者
郝伟
张宏立
Hao Wei;Zhang Hongli(School of Electrical Engineering,Xinjiang University,Urumchi 830047,Chin)
出处
《电子技术应用》
2018年第7期139-142,146,共5页
Application of Electronic Technique
基金
国家自然科学基金(51767022)
关键词
板球系统
滑模变结构
轨迹跟踪
稳定性分析
自适应
ball and plate system
sliding- mode variable structure
trajectory tracking
stability analysis
adaptive
