一类新的二阶滑模控制方法及其在倒立摆控制中的应用

李雪冰; 马莉; 丁世宏

doi:10.16383/j.aas.2015.c140263

一类新的二阶滑模控制方法及其在倒立摆控制中的应用

doi: 10.16383/j.aas.2015.c140263

1.
江苏大学电气信息工程学院镇江 212013

基金项目:

国家自然科学基金(61203054);江苏省高校优势学科建设工程资助项目(PAPD, 苏政办发(2011)6号;江苏省自然科学基金(BK2012283)资助

详细信息

作者简介:
李雪冰江苏大学电气信息工程学院硕士研究生.主要研究方向为滑模变结构控制理论.E-mail:lxb121619@163.com

通讯作者:
丁世宏江苏大学电气信息工程学院副教授.主要研究主向为非线性系统,高阶滑模控制,DC-DC控制.本文通信作者.E-mail:dsh@ujs.edu.cn

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出版历程
- 收稿日期: 2014-04-16
- 修回日期: 2014-07-18
- 刊出日期: 2015-01-20

A New Second-order Sliding Mode Control and Its Application to Inverted Pendulum

1.
School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013

Funds:

Supported by National Natural Science Foundation of China (61203054), the Priority Academic Program Development of Jiangsu Higher Education Institutions (PAPD, (2011)6), and Natural Science Foundation of Jiangsu Province (BK2012283)

摘要

摘要: 二阶滑模作为高阶滑模的特殊情形, 不仅具有传统滑模鲁棒性强、对外界干扰不敏感的特点, 而且能够有效地消弱传统一阶滑模中存在的"抖振"现象. 本文设计了一种新的二阶滑模控制算法. 该算法的优点是假设不确定性是由非负函数限制而不是由常数限定. 因此, 该算法在实际应用中具有更广的应用范围. 此外, 算法中的加幂积分技术保证了系统在有限时间内稳定, 而不是传统二阶滑模中普遍存在的有限时间收敛, 并给出了严格的数学证明. 最后, 在倒立摆控制中的应用验证了该算法的有效性.
- 二阶滑模 /
- 有限时间稳定 /
- 加幂积分 /
- 倒立摆
Abstract: Second-order sliding mode, as a special case of high-order sliding mode, not only has strong robustness and insensitiveness to external disturbance, but also eliminates the chattering phenomenon existing in the traditional first-order sliding mode. A new second-order sliding mode control algorithm is developed in this paper. The advantage of the algorithm lies in that it can be used to handle the uncertainty bounded by a known positive function rather than a positive constant. Consequently, the algorithm can be applied to a more general class of systems. In addition, the adding a power integrator technique guarantees the global finite-time stability rather than the finite-time convergence. Finally, the application to control of an inverted pendulum shows the effectiveness of the algorithm.
- Second-order sliding mode /
- finite-time stability /
- adding a power integrator /
- invented pendulum

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参考文献(30)

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一类新的二阶滑模控制方法及其在倒立摆控制中的应用

doi: 10.16383/j.aas.2015.c140263

作者简介:
李雪冰江苏大学电气信息工程学院硕士研究生.主要研究方向为滑模变结构控制理论.E-mail:lxb121619@163.com

通讯作者:
丁世宏江苏大学电气信息工程学院副教授.主要研究主向为非线性系统,高阶滑模控制,DC-DC控制.本文通信作者.E-mail:dsh@ujs.edu.cn

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A New Second-order Sliding Mode Control and Its Application to Inverted Pendulum

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留言板

一类新的二阶滑模控制方法及其在倒立摆控制中的应用

doi: 10.16383/j.aas.2015.c140263

作者简介: 李雪冰 江苏大学电气信息工程学院硕士研究生.主要研究方向为滑模变结构控制理论.E-mail:lxb121619@163.com

通讯作者: 丁世宏 江苏大学电气信息工程学院副教授.主要研究主向为非线性系统,高阶滑模控制,DC-DC控制.本文通信作者.E-mail:dsh@ujs.edu.cn

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出版历程

A New Second-order Sliding Mode Control and Its Application to Inverted Pendulum

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出版历程

目录

作者简介:
李雪冰江苏大学电气信息工程学院硕士研究生.主要研究方向为滑模变结构控制理论.E-mail:lxb121619@163.com

通讯作者:
丁世宏江苏大学电气信息工程学院副教授.主要研究主向为非线性系统,高阶滑模控制,DC-DC控制.本文通信作者.E-mail:dsh@ujs.edu.cn