基于一种新型趋近律的自适应滑模控制 - 控制与决策.pdfVIP

第31 卷 第7 期 控 制 与 决 策 2016 年 7 月 Vol. 31 No. 7 Control and Decision Jul. 2016 文章编号: 1001-0920 (2016) 07-1335-04 DOI: 10.13195/j.kzyjc.2015.0518 基于一种新型趋近律的自适应滑模控制 周 涛 (洛阳师范学院物理与电子信息学院，河南洛阳471022) 摘 要: 首先, 利用特殊幂次函数和反双曲正弦函数构造一种新型滑模变结构控制趋近律; 然后, 采用该趋近律设 计一种自适应滑模控制律, 并证明滑模控制系统误差渐近收敛. 仿真实验表明: 在存在时变转动惯量和摩擦力矩扰动 的情况下, 该自适应滑模控制系统具有较高的位置和速度跟踪精度, 并有效减弱了控制输入信号的高频震颤现象; 同 时, 采用反双曲正弦函数的自适应律能较好地平滑系统转动惯量估计值, 减小控制输入信号的幅值. 关键词: 滑模变结构控制；趋近律；自适应律；高频震颤现象 中图分类号: TP273 文献标志码: A Adaptive sliding control based on a new reaching law ZHOU Tao (School of Physics and Electronics Information，Luoyang Normal University ，Luoyang 471022 ，China. E-mail: zhoutao041@163.com) Abstract: Firstly, a new sliding mode control reaching law with a special power function and an inverse hyperbolic sine function is constructed. Then, an adaptive sliding control law is designed with the reaching law, and the error asymptotic convergence of the sliding control system is proved. The simulation experiments demonstrate that the adaptive sliding control system with the changing rotational inertia and friction torque has higher position and speed tracking precision, and reduces high frequency fluctuation phenomenon of the control input signal effectively. The adaptive law with the inverse hyperbolic sine function can well reduce the estimation value of the rotational inertia and control input signal. Keywords: sliding mode control；reaching law ；adaptive law ；high frequency fluctuation phenomenon [1] 0 引引引 言言言 近律、幂次趋近律和一般趋近律 . 文献[4] 中提出一 滑模变结构控制使系统的结构随时间按开关特 种利用双幂次趋近律提高系统状态收敛速度的设