摘要
针对一类MIMO非线性不确定系统,提出一种新的连续高阶滑模控制算法.引入状态反馈使得系统高阶滑模控制问题等效转换为多变量不确定积分链的有限时间稳定问题,首先针对标称系统设计有限时间到达连续控制律,实现系统状态快速收敛,然后采用多变量非解耦形式超螺旋算法克服系统不确定性,实现鲁棒性,最终使得系统控制作用连续、滑模抖振得以大大抑制.基于二次型Lyapunov函数证明系统的有限时间稳定性.针对三阶不确定系统有限时间稳定和气垫船圆形航迹跟踪问题分别进行了仿真,验证了所提算法的有效性、鲁棒性.
This paper proposes a new continuous higher-order sliding mode control scheme for a class of MIMO nonlinearuncertain system. After implemented state feedback control, higher-order sliding mode control problem of the originaluncertain nonlinear system is equivalently transformed into finite time stability problem of multivariable uncertain integrorchains. A finite time continuous control law is firstly employed to guarantee rapid convergence of system states and finitetime stabilization of nominal integral chain system, then multivariable non-coupling super-twisting algorithm is designed toovercome system uncertainties and achieve robustness. Finally, the whole control effect is continuous and high frequencychattering phenomenon of sliding mode is greatly weakened. Finite time stability of the closed loop system is proved strictlybased on quadratic Lyapunov function. Examples concerning finite-time stabilization of a third order uncertain systemand the hovercraft circular trajectory tracking are simulated respectively to verify the effectiveness and the robustness ofthe proposed approach.
作者
刘向杰
韩耀振
LIU Xiang-jie;HAN Yao-zhen(State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources,North China Electric Power University, Beijing 102206, China;School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan Shandong 250357, China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2016年第9期1236-1244,共9页
Control Theory & Applications
基金
国家自然科学基金项目(61273144)
山东省自然科学基金项目(ZR2013EEL014)资助~~
关键词
连续高阶滑模
多输入多输出不确定系统
多变量超螺旋
气垫船
continuous high-order sliding mode
multiple-input multiple-output uncertain system
multivariable supertwisting
supertwisting
