SLIDING ORDER AND SLIDING ACCURACY IN SLIDING MODE CONTROL
SLIDING ORDER AND SLIDING ACCURACY IN SLIDING MODE CONTROL
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DOI：
10.1080/00207179308923053
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发表时间：
1993-12-01
影响因子：
2.1
通讯作者：
LEVANT, A
中科院分区：
文献类型：
--
作者：
LEVANT, A
考虑了一种控制算法的合成，该算法将非线性系统搅动到给定的流形，并将其保持在该约束范围内。在这种综合中，通常采用所谓的滑模。实际上，这种滑动模式的特征是控制的高频切换。结果表明，系统偏离规定的约束条件(滑动精度)与切换时滞成正比。提出了一类新的滑模和滑模算法，并引入了滑模阶数的概念。这些算法的特点是连续依赖于时间的有界控制，只有在控制导数上不连续。滑动精度与切换时延的平方成正比。
The synthesis of a control algorithm that stirs a nonlinear system to a given manifold and keeps it within this constraint is considered. Usually, what is called sliding mode is employed in such synthesis. This sliding mode is characterized, in practice, by a high-frequency switching of the control. It turns out that the deviation of the system from its prescribed constraints (sliding accuracy) is proportional to the switching time delay. A new class of sliding modes and algorithms is presented and the concept of sliding mode order is introduced. These algorithms feature a bounded control continuously depending on time, with discontinuities only in the control derivative. It is also shown that the sliding accuracy is proportional to the square of the switching time delay.