【摘要】 针对非匹配多变量模型不确定系统,提出了一种终端滑模分解控制方法.通过状态变换和去耦合处理将系统转换为块能控标准型,它由匹配扰动的值域空间子系统和稳定的非匹配扰动的零动态子系统组成.提出了特殊的终端滑模超曲面,采用滑模控制策略,使值域空间子系统的状态在有限时间内收敛至平衡点,随后非匹配扰动的零动态子系统渐近收敛至平衡点附近的邻域内,且建立了该邻域的范围与系统的非匹配不确定性范围之间的数学关系,并用于系统的设计与分析.所提方法对于维数较高的非匹配不确定系统的控制具有较大的意义,可简化设计,实现递阶控制.仿真实例表明了该方法的有效性.更多还原

【Abstract】 A terminal sliding mode decomposed control method for a linear multivariable system with unmatched uncertainties is proposed.The system was converted into the block controllable form consisting of two parts,the range space subsystem with matched uncertainties and the stable zero_dynamic subsystem with unmatched uncertainties.The special terminal sliding mode was presented for the range space subsystem,and the control law was designed to drive the state variables of the range space subsystem to the equilibrium points within a finite time.Then,the state variables of the zero_dynamics converged to the neighborhood of equilibrium points asymptotically,and the mathematical relationship with the range of the unmatched uncertainties was formulated.Simulation results were presented to validate the design and the analysis.The mathematical relationship can be used for the system design and analysis.The proposed method is significant for high_dimensional linear multivariable systems with unmatched uncertainties in that it can simplify the design of controller and realize the hierarchical control.更多还原