基于状态观测器输入受限不确定系统滑模控制.pdfVIP

Vol . 37 No. 4 ( ) 509 201108 Journal of East China U niversity of S ien e an d T e hnology ( Natural S ien e E dition) : 2011) 1 2 1 王瑞芬, 刘建平 , 牛玉刚 ( 1. 华东理工大学信息科学与工程学院, 上海200237; 2. 河北石家庄职工大学, 石家庄050049) : 研究 控制输入受限情况下不确定系统的滑模控制问题, 其中, 系统不确定性同时存在 于状态矩阵和控制增益矩阵中首先, 利用状态观测器估计不可测状态; 然后, 在状态估计空间选 择一种积分型切换面; 最后, 设计一 个基于状态估计的滑模控制律以保证系统状态轨迹在有限时间 内到达指定的切换面, 同时利用等价控制律方法给出 滑模动态渐近稳定的充分条件数值仿真 实验验证 本文算法的有效性 : 输入受限; 不确定系统; 滑模控制; 状态观测器 : TP273 : A StateObserverBased Sliding Mode Control for Uncertain Systems Subject to Input Constraint 1 1 WA N G Ruif en , L I UJ ianp ing , NI U Yug ang ( 1. S chool of I nf or mat ion Sc ience and Eng ineer ing , E a t China Univ er ity of S cience and T echnology , S hanghai 200237, China; 2. Shij iaz huang Staff and Wor ker Univ er ity , S hij iaz huang 050049, China) Abstract: The problem of sliding mode ontrol for un ertain sy stems subje t to input onstraint is onsidered. There ex ist un ertainties in state matrix and input matrix, respe tively. Moreover, the system states are unmeasur ed. A n integral sliding surfa e is onstru ted in the spa e of state estimation. And then, a sliding mode ontr oller based on state observer is designed su h that the state traje tories an be driven onto the spe ified sliding surfa e in finite time despite the parameter un ertainties and input onstraint . By means of equivalent ontrol law , a suffi ient ondition is given to guarantee the asymptoti stability of the sli