【摘要】 针对已有终端滑模控制的奇异和收敛缓慢问题,提出一种非奇异快速终端滑模函数,并利用李亚普诺夫方法证明其有限时间收敛特性.在此基础上,结合带负指数项的吸引子来设计控制律,使控制输入实现时间连续,并保证滑模面全局存在.理论分析表明,通过合理选择控制参数,可使系统避免"收敛停滞",且对有界模型误差和外部干扰具有较好鲁棒性.更多还原

【Abstract】 Aiming at the singularity and slow-convergence problem of the existing terminal sliding mode(TSM) control, this paper proposes a nonsingular and fast terminal sliding function and proves its finite-time convergence property with Lyapunov method.On this basis,the control law is synthesized by employing an attractor with negative exponential factor to guarantee the time-continuous control input and global existence of the sliding mode.Theoretical analysis indicates that by selecting the control parameters properly,convergence stagnation of the closed system can be avoided and a preferable robustness can be obtained when the model error and the external disturbance are bounded.更多还原