Dynamic Sliding Mode Control Design Based on an Integral Manifold for Nonlinear Uncertain Systems
Dynamic Sliding Mode Control Design Based on an Integral Manifold for Nonlinear Uncertain Systems
复制标题
DOI：
10.1155/2014/489364
复制
发表时间：
2014-01
期刊：
影响因子：
--
通讯作者：
Q. Khan;A. I. Bhatti;A. Ferrara
中科院分区：
文献类型：
--
作者：
Q. Khan;A. I. Bhatti;A. Ferrara
本文提出了一种基于积分流形的输出反馈滑模控制律设计。所考虑的一类非线性系统被假设同时受到匹配不确定性和不匹配不确定性的影响。使用积分滑动歧管允许一个细分控制设计过程分为两个步骤。首先通过极点布置设计线性控制元件，然后加入不连续控制元件以应对不确定性的存在。在传统的滑模中，由于控制分量的不连续，控制变量受到高频振荡的影响。然而，在本方案中，所设计的控制律是经过一系列积分器后应用于实际系统的。因此，实际送入系统的控制输入是连续的，这在抖振衰减方面是一个积极的特征。通过应用所提出的控制器，即使在存在不确定性的情况下，系统输出也被调节为零。本文对所提出的控制律进行了理论分析，并通过仿真验证了其性能。
An output feedback sliding mode control law design relying on an integral manifold is proposed in this work. The considered class of nonlinear systems is assumed to be affected by both matched and unmatched uncertainties. The use of the integral sliding manifold allows one to subdivide the control design procedure into two steps. First a linear control component is designed by pole placement and then a discontinuous control component is added so as to cope with the uncertainty presence. In conventional sliding mode the control variable suffers from high frequency oscillations due to the discontinuous control component. However, in the present proposal, the designed control law is applied to the actual system after passing through a chain of integrators. As a consequence, the control input actually fed into the system is continuous, which is a positive feature in terms of chattering attenuation. By applying the proposed controller, the system output is regulated to zero even in the presence of the uncertainties. In the paper, the proposed control law is theoretically analyzed and its performances are demonstrated in simulation.