【摘要】 针对一类具有非匹配不确定性的多变量系统,提出了一种递阶结构的高阶终端滑模控制方法。将多变量系统变换为解耦块能控标准型。采用非奇异终端滑模,结合微分估计器,设计高阶滑模控制策略,使输入输出子系统的状态在有限时间内收敛至平衡点,内部子系统的状态收敛至平衡点的邻域内。所提方法可以简化系统结构,消除控制抖振,通过控制器参数和非匹配扰动的上界可以估计系统状态的收敛范围。仿真结果验证了该方法的有效性。更多还原

【Abstract】 A hierarchical high-order terminal sliding mode control method is proposed for a mismatched uncertain multivariable system.The multivariable system was transformed to the decoupled block controllable form.Combined with the derivative estimator,the nonsingular terminal sliding mode manifold was utilized and the high-order sliding mode control strategy was designed to drive the states of the input-output subsystem to the equilibrium points within finite time,and drive the states of the internal dynamic subsystem to the neighborhood of the equilibrium points.The proposed method can simplify the structure of the system and eliminate the chattering phenomenon.Moreover,the convergence neighborhood of the system states can be estimated according to the parameters of the controller and the range of the mismatched uncertainties.The simulation results are presented to validate the method.更多还原