Design of decentralised adaptive sliding mode controllers for large-scale systems with mismatched perturbations
Design of decentralised adaptive sliding mode controllers for large-scale systems with mismatched perturbations
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DOI：
10.1080/00207170701713788
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发表时间：
2008-08
影响因子：
2.1
通讯作者：
Chih‐Chiang Cheng;Yaote Chang
中科院分区：
文献类型：
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作者：
Chih‐Chiang Cheng;Yaote Chang
基于李雅普诺夫稳定性定理，本文提出了一种分散自适应滑模控制方案的设计方法。对一类同时具有匹配扰动和失配扰动的大系统，实现了该方案。在一定的条件下，扰动项和关联项都是范数有界的。为每个子系统专门设计了带有自适应机制的分散滑动面，使得当每个子系统进入滑动模态时，能有效地克服非匹配扰动和关联项的影响，达到渐近稳定。分散控制器嵌入自适应机制是能够驱动控制状态轨迹到指定的滑动面在有限的时间。这也实现了没有知识的扰动的上界，除了那些在输入通道的不确定性。最后通过数值算例验证了所提控制方案的可行性。
Based on the Lyapunov stability theorem, a methodology for designing a decentralised adaptive sliding mode control scheme is proposed in this paper. This scheme is implemented for a class of large-scale systems with both matched and mismatched perturbations. The perturbations and the interconnection terms are assumed to be norm bounded under certain mild conditions. The decentralised sliding surfaces with adaptive mechanisms embedded are specially designed for each subsystem, so that when each subsystem enters the sliding mode, the mismatched perturbations and the effects of interconnections can be effectively overcome and achieve asymptotic stability. The decentralised controller with embedded adaptive mechanisms is capable of driving the controlled state trajectories into the designated sliding surface in finite time. This is also achieved without the knowledge of upper bounds of the perturbations except those of the uncertainties in the input channels. A numerical example is included to demonstrate the feasibility of the proposed control scheme.