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摘要: 研究非线性仿射系统的高阶滑模控制问题.通过适当的输入及非线性状态变换将系 统分解为一个关于切换变量及其高阶导数的低阶线性子系统和一个关于滑模的低阶非线性子 系统,进而给出了其高阶滑模控制器的设计方法.最后,对两轮驱动的非完整移动机器人进行 了数值仿真,结果表明高阶滑模控制在抖振减弱方面确实具有一定的作用.Abstract: This paper addresses the high-order sliding mode control problem of nonlinear affine systems. By proper input and nonlinear state transformations, the system is first decomposed into two low dimensional subsystems: the linear subsystem involves the switching functions and related derivatives, and the nonlinear subsystem describes the sliding mode motion. A high-order sliding mode control law is then developed to achieve high-order sliding mode motion with prescribed dynamics. Finally, numerical simulations are performed for the posture model of a two-wheel driven nonholonomic mobile robot, and the results show that the proposed approach has considerable potentialities to lessen the chattering of sliding mode control systems.
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Key words:
- Nonlinear systems /
- sliding mode control /
- sliding order /
- nonholonomic robot
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