Adaptive Predefined Performance Sliding Mode Control of Motor Driving Systems With Disturbances
Adaptive Predefined Performance Sliding Mode Control of Motor Driving Systems With Disturbances
复制标题
具有扰动的电机驱动系统的自适应预定性能滑模控制
DOI：
10.1109/tec.2020.3038010
复制
发表时间：
2021-09-01
影响因子：
4.9
通讯作者：
Chen, Qiang
中科院分区：
文献类型：
--
作者：
Wang, Shubo;Na, Jing;Chen, Qiang
针对具有未知扰动的双惯量驱动系统，提出了一种具有预定性能的时间滑模控制方法。设计了一种不需要精确初始误差的改进的规定性能函数（PPF），以保证跟踪误差保持在规定的边界内。然后构造一个自适应律来估计集总动力学的未知上界参数（如参数不确定性和外部干扰），从而不需要先验的不确定性上界知识。在控制设计中引入参数估计，以消除未知动力学的影响。利用滑模技术，提出了一种自适应的预定义时间滑模控制方法。所提出的控制方法可以实现快速的跟踪误差收敛速度，并通过李雅普诺夫函数方法证明了闭环系统的稳定性。在双惯性驱动系统上进行了对比实验，验证了该方法的有效性。
In this paper, a predefined time sliding mode control with prescribed performance is presented for dual-inertia driving systems with unknown disturbances. A modified prescribed performance function (PPF) without requiring the accurate initial error is designed to guarantee that the tracking error remains within the prescribed boundary. An adaptive law is then constructed to estimate the unknown upper boundary parameters of the lumped dynamics (e.g., parameter uncertainties and external disturbances), so that the prior knowledge of the upper bound of uncertainties is not required. The parameter estimation is incorporated into the control design to eliminate the effects of the unknown dynamics. Using the sliding mode technique, an adaptive predefined time sliding mode control is developed. The proposed control method can achieve fast convergence rate of the tracking error, and the stability of the closed-loop system is proved via the Lyapunov function method. Comparative experiments are carried out based on a dual-inertia driving system to validate the efficacy of the proposed approach.