Design of variable structure controller-from sliding mode to sliding sector
Design of variable structure controller-from sliding mode to sliding sector
复制标题
变结构控制器设计——从滑模到滑扇
DOI：
10.1109/cdc.2000.912104
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
S. Hatakeyama
中科院分区：
文献类型：
--
作者：
Yaodong Pan;K. Furuta;Satoshi Suzuki;S. Hatakeyama
变结构控制系统一般采用滑模控制方式设计。但最近提出了一种基于代数Riccati方程的滑模变结构控制器来代替无抖振变结构控制器和离散变结构控制器中的滑模。本文在滑模的基础上设计了一种新的滑模变结构，并提出了一种基于滑模变结构的变结构控制器。即使存在参数不确定性和外部干扰，所提出的VS控制系统是二次稳定的。倒立摆系统的实验结果表明了该滑模变结构控制算法的有效性。
In general, a variable structure (VS) control system is designed with a sliding mode. But recently a sliding sector designed using algebraic Riccati equation has been proposed to replace the sliding mode for chattering-free VS controllers and for discrete-time VS controllers. In this paper we design a new sliding sector based on the sliding mode and propose a VS controller with the sliding sector. The proposed VS control system is quadratically stable even if there exists parameter uncertainties and external disturbances. The experimental results on an inverted pendulum show the effectiveness of the proposed VS control algorithm with the sliding sector.