A survey of applications of second-order sliding mode control to mechanical systems
A survey of applications of second-order sliding mode control to mechanical systems
复制标题
DOI：
10.1080/0020717031000099010
复制
发表时间：
2003-06-01
影响因子：
2.1
通讯作者：
Usai, E
中科院分区：
文献类型：
--
作者：
Bartolini, G;Pisano, A;Usai, E
滑模控制在机械系统中的有效应用并不简单，因为这些系统对颤振非常敏感。高阶滑模可以通过将切换控制限制在机械控制变量的高阶导数上来抵消这种现象，从而使后者的结果是连续的。一般来说，这种方法需要滑动变量的多个时间导数的可用性，并且在存在噪声的情况下，这种要求可能是实际的限制。一类二阶滑模控制器保证了滑动变量和切换控制之间具有相对二阶系统的有限时间收敛，有助于减少控制器中微分器级的数量和处理未建模的执行器动力学。在本文中，先前在文献中提出的不同二阶滑模控制器被证明属于上述类别，并且解决了涉及机械系统的一些具有挑战性的控制问题。整篇论文都提供了模拟和实验结果。
The effective application of sliding mode control to mechanical systems is not straightforward because of the sensitivity of these systems to chattering. Higher-order sliding modes can counteract this phenomenon by confining the switching control to the higher derivatives of the mechanical control variable, so that the latter results are continuous. Generally, this approach requires the availability of a number of time derivatives of the sliding variable, and, in the presence of noise, this requirement could be a practical limitation. A class of second-order sliding mode controllers, guaranteeing finite-time convergence for systems with relative degree two between the sliding variable and the switching control, could be helpful both in reducing the number of differentiator stages in the controller and in dealing with unmodelled actuator dynamics. In this paper different second-order sliding mode controllers, previously presented in the literature, are shown to belong to the above cited class, and some challenging control problems involving mechanical systems are addressed and solved. Simulations and experimental results are provided throughout the paper.