High-Order Mismatched Disturbance Compensation for Motion Control Systems Via a Continuous Dynamic Sliding-Mode Approach
High-Order Mismatched Disturbance Compensation for Motion Control Systems Via a Continuous Dynamic Sliding-Mode Approach
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DOI：
10.1109/tii.2013.2279232
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发表时间：
2014
影响因子：
12.3
通讯作者：
Jun Yang;Jinya Su;Shihua Li;Xinghuo Yu
中科院分区：
文献类型：
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作者：
Jun Yang;Jinya Su;Shihua Li;Xinghuo Yu
针对运动控制系统中高阶失配干扰的抑制问题，提出了一种基于高阶滑模微分器的连续动态滑模控制方法。首先，一个新的动态滑模面的开发，通过将信息的估计扰动及其高阶导数。然后针对同时存在高阶匹配和失配干扰的一般运动控制系统，设计了一种CDSMC控制律，该控制律能够有效地抑制系统输出中干扰的影响。最后将所提出的控制方法应用于磁悬浮车辆的气隙控制。仿真结果表明，所提出的方法具有良好的控制性能存在高阶匹配和失配干扰。
A new continuous dynamic sliding-mode control (CDSMC) method is proposed for high-order mismatched disturbance attenuation in motion control systems using a high-order sliding-mode differentiator. First, a new dynamic sliding surface is developed by incorporating the information of the estimates of disturbances and their high-order derivatives. A CDSMC law is then designed for a general motion control system with both high-order matched and mismatched disturbances, which can attenuate the effects of disturbances from the system output. The proposed control method is finally applied for the airgap control of a MAGnetic LEViation (MAGLEV) suspension vehicle. Simulation results show that the proposed method exhibits promising control performance in the presence of high-order matched and mismatched disturbances.