Sliding mode control design via piecewise smooth Lipschitz surfaces based on contingent cone criteria
Sliding mode control design via piecewise smooth Lipschitz surfaces based on contingent cone criteria
复制标题
基于条件锥准则的分段光滑Lipschitz曲面滑模控制设计
DOI：
10.1007/s12555-013-0313-4
复制
发表时间：
2014-08-01
影响因子：
3.2
通讯作者：
Ma, Kemao
中科院分区：
文献类型：
--
作者：
Huo, Xin;Zheng, Kai;Ma, Kemao
针对一类非线性系统的滑模控制问题，提出了一种新的滑模控制器设计方法。将滑动面由光滑面扩展为一般的Lipschitz连续面，从而可以实现不同的滑动运动特性。由于滑动面的非光滑性，通过分析非光滑滑动面的几何性质，在Filippov微分包含的框架下讨论了控制设计问题。基于新的条件锥准则，设计了不连续控制律，使闭环系统的所有轨迹在有限时间内到达分段光滑滑动面。
In order to improve flexibility of sliding mode control (SMC) for a class of nonlinear systems, a new control design method is proposed in this paper. The sliding surface is extended to be a generic Lipschitz continuous surface instead of a smooth one, with which different characteristics of sliding motion may be realized. Due to the nonsmoothness of the sliding surface, the control design problem is discussed in the framework of Filippov’s differential inclusion, by analyzing the geometric properties of the nonsmooth surface. Discontinuous control laws are presented based on new contingent cone criteria, which steer all of the trajectories of the closed-loop system to reach the piecewise smooth sliding surface in finite time.