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

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- 文章访问数: 1835
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- 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

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参考文献(1)

[1]

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