非匹配不确定高阶非线性系统递阶Terminal滑模控制

蒲明; 吴庆宪; 姜长生; 佃松宜; 王宇飞

doi:10.3724/SP.J.1004.2012.01777

非匹配不确定高阶非线性系统递阶Terminal滑模控制

doi: 10.3724/SP.J.1004.2012.01777

1.
四川大学电气信息学院自动化系成都 610065;
2.
南京航空航天大学自动化学院南京 210016

详细信息

通讯作者:
蒲明

计量
- 文章访问数: 1844
- HTML全文浏览量: 79
- PDF下载量: 870
- 被引次数: 0
出版历程
- 收稿日期: 2011-11-23
- 修回日期: 2012-05-03
- 刊出日期: 2012-11-20

Recursive Terminal Sliding Mode Control for Higher-order Nonlinear System with Mismatched Uncertainties

1.
Automation Department, School of Electrical Engineering and Information, Sichuan University, Chengdu 610065;
2.
College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016

摘要

摘要: 对于高阶非线性系统,首先采用改进的高阶滑模微分器作为间接干扰观测器,获得前n-1个子系统中的非匹配复合干扰的估计值,证明了估计误差可任意小. 为避免代数环,设计了三种方案获得最后一个子系统中非匹配复合干扰的估计值,并证明了估计误差有界. 在此基础上设计递阶Terminal滑模控制器,证明了控制器参数非奇异及结构非奇异,并给出所需条件. 最后,证明了系统稳定,跟踪误差可任意小. 近空间飞行器姿态控制仿真验证了本文结论.
- 非匹配 /
- 不确定 /
- 非线性 /
- 滑模 /
- 干扰
Abstract: For higher-order nonlinear system, firstly, improved higher-order sliding mode differentiators are used as indirect disturbance observers to approximate the mismatched compound disturbance except the one which exists in the last subsystem. The estimated errors are arbitrarily small. To avoid the algebraic loop, three schemes are proposed to obtain the estimation value of mismatched compound disturbance of the last subsystem, and the error is bounded. Then, nonsingular recursive terminal sliding mode controller is designed and necessary conditions are given. Finally, it is proved that the system is stable and the tracking error is arbitrarily small. Simulation applied to a near space vehicle has proved all conclusions.
- Mismatched /
- uncertainties /
- nonlinear /
- sliding mode /
- disturbance

HTML全文

参考文献(1)

[1]

Cao W J, Xu J X. Nonlinear integral-type sliding surface for both matched and unmatched uncertain systems. IEEE Transactions on Automatic Control, 2004, 49(8): 1355-1360[2] Fernando C, Leonid F. Analysis and design of integral sliding manifolds for systems with unmatched perturbations. IEEE Transactions on Automatic Control, 2006, 51(5): 853-858[3] Hong S K, Nam Y. Stable fuzzy control system design with pole-placement constraint: an LMI approach. Computers in Industry, 2003, 51(1): 1-11[4] Man Z H, Paplinski A P, Wu H R. A robust MIMO terminal sliding mode control scheme for rigid robot manipulators. IEEE Transactions on Automatic Control, 1994, 39(12): 2464-2469[5] Binoo K J, Ray G. Trajectory tracking of a two-link robot manipulator: a terminal attractor approach. In: Proceedings of the 6th International Conference on Electrical and Computer Engineering. Dhaka, Bangladesh: IEEE, 2010. 255-258[6] Feng Y, Yu X H, Man Z H. Non-singular terminal sliding mode control of rigid manipulators. Automatica, 2002, 38(12): 2159-2167[7] Feng Yong, Bao Cheng, Yu Xing-Huo. Design method of non-singular terminal sliding mode control systems. Control and Decision, 2002, 17(2): 194-198(冯勇, 鲍晟, 余星火. 非奇异终端滑模控制系统的设计方法. 控制与决策, 2002, 17(2): 194-198)[8] Wu Y Q, Yu X H, Man Z H. Terminal sliding mode control design for uncertain dynamic systems. Systems and Control Letters, 1998, 34(5): 281-287[9] Zhuang Kai-Yu, Zhang Ke-Qin, Su Hong-Ye. Terminal sliding mode control for high-order nonlinear dynamic systems. Journal of Zhejiang University (Engineering Science), 2002, 36(5): 482-485(庄开宇, 张克勤, 苏宏业. 高阶非线性系统的Terminal滑模控制. 浙江大学学报 (工学版), 2002, 36(5): 482-485)[10] Tseng C S, Chen B S. Robust fuzzy observer-based fuzzy control design for nonlinear discrete-time systems with persistent bounded disturbances. IEEE Transactions on Fuzzy Systems, 2009, 17(3): 711-722[11] Foo G, Rahman M F. Sensorless sliding mode MTPA control of an IPM synchronous motor drive using a sliding mode observer and HF signal injection. IEEE Transactions on Industrial Electronics, 2010, 57(4): 1270-1278[12] Liu M, Shi P, Zhang L X, Zhao X D. Fault-tolerant control for nonlinear Markovian jump systems via proportional and derivative sliding mode observer technique. IEEE Transactions on Circuits and Systems, 2011, 58(11): 2755-2764[13] Li J, Yang J, Li S H, Chen X S. Design of neural network disturbance observer using RBFN for complex nonlinear systems. In: Proceedings of the 30th Chinese Control Conference. Yantai, China: IEEE, 2011, 6187-6192[14] Yang J, Chen W H, Li S. Non-linear disturbance observer based robust control for systems with mismatched disturbances/uncertainties. IET Control Theory and Applications, 2010, 5(18): 2053-2062[15] Pu Ming, Wu Qing-Xian, Jiang Chang-Sheng, Cheng Lu. Analysis and improvement of higher-order sliding mode differentiator. Control and Decision, 2011, 26(8): 1136-1140(蒲明, 吴庆宪, 姜长生, 程路. 高阶滑模微分器的分析与改进. 控制与决策, 2011, 26(8): 1136-1140)[16] Zhang Jun. Robust Adaptive Control for Nonlinear Uncertain Flight Moving Systems of Near Space Vehicle [Ph.D. dissertation], Nanjing University of Aeronautics and Astronautics, China, 2009(张军. 近空间飞行器非线性不确定飞行运动的鲁棒自适应控制 [博士学位论文], 南京航空航天大学, 中国, 2009)[17] Cao Bang-Wu, Jiang Chang-Sheng. Robust backstepping sliding mode controller design approach for a class of uncertain nonlinear systems. Journal of Astronautics, 2005, 26(6): 818-822(曹邦武, 姜长生. 一类不确定非线性系统的回馈递推滑模鲁棒控制器设计. 宇航学报, 2005, 26(6): 818-822)[18] Lin F J, Shen P H, Hsu S P. Adaptive backstepping sliding mode control for linear induction motor drive. Electric Power Applications, 2002, 149(3): 184-194

施引文献

资源附件(0)

访问统计