A New Fast Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Uncertain Systems
A New Fast Nonsingular Terminal Sliding Mode Control for a Class of Second-Order Uncertain Systems
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DOI：
10.1155/2016/1743861
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发表时间：
2016-12
影响因子：
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通讯作者：
Li Xin;Qinglin Wang;Yuan Li
中科院分区：
文献类型：
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作者：
Li Xin;Qinglin Wang;Yuan Li
研究了一类二阶不确定系统的鲁棒自适应非奇异终端滑模控制问题。首先，提出了一种新的快速NTSM，在滑动阶段具有全局快速收敛速度。然后，设计了一种新形式的鲁棒NTSM控制器来处理更广泛的二阶不确定系统。此外，指数下降的切换增益被引入到抖振抑制。在此基础上，构造了一种双滑模面控制方案，将NTSM控制与自适应技术结合起来，实现了联合收割机的控制。其好处是，可以给出严格的证明，在NTSM的稳定性分析的停滞问题。最后，以变摆的跟踪控制为例，验证了所提出的控制器的有效性。
This paper considers the robust and adaptive nonsingular terminal sliding mode (NTSM) control for a class of second-order uncertain systems. First, a new fast NTSM was proposed which had global fast convergence rate in the sliding phase. Then, a new form of robust NTSM controller was designed to handle a wider class of second-order uncertain systems. Moreover, an exponential-decline switching gain was introduced for chattering suppression. After that, a double sliding surfaces control scheme was constructed to combine the NTSM control with the adaptive technique. The benefit is that a strict demonstration can be given for the stagnation problem in the stability analysis of NTSM. Finally, a case study for tracking control of a variable-length pendulum was performed to verify the proposed controllers.