Homogeneity approach to high-order sliding mode design
Homogeneity approach to high-order sliding mode design
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DOI：
10.1016/j.automatica.2004.11.029
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发表时间：
2005-05-01
期刊：
影响因子：
6.4
通讯作者：
Levant, A
中科院分区：
文献类型：
--
作者：
Levant, A
结果表明，一般的不确定性单输入单输出调节问题是可解的，只有通过不连续的控制律，引起所谓的高阶滑模。相应的控制器的同质性产生了一些实际上重要的功能。特别是，有限时间收敛证明，渐近精度计算在一个非常一般的方式存在的输入噪声，离散测量和开关延迟。一个鲁棒齐次微分器包含在控制结构中，从而产生具有有限时间收敛的鲁棒输出反馈控制器。结果表明，同质性功能显着简化了一个新的家庭的高阶滑模控制器的设计和调查。最后给出了仿真结果。(c)2005爱思唯尔有限公司保留所有权利。
It is shown that a general uncertain single-input-single-output regulation problem is solvable only by means of discontinuous control laws, giving rise to the so-called high-order sliding modes. The homogeneity properties of the corresponding controllers yield a number of practically important features. In particular, finite-time convergence is proved, and asymptotic accuracy is calculated in a very general way in the presence of input noises, discrete measurements and switching delays. A robust homogeneous differentiator is included in the control structure thus yielding robust output-feedback controllers with finite-time convergence. It is demonstrated that homogeneity features significantly simplify the design and investigation of a new family of high-order sliding-mode controllers. Finally, simulation results are presented. (c) 2005 Elsevier Ltd. All rights reserved.