一类非线性串级系统的互补滑模控制

J. Su, C. Liang
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引用次数: 0

摘要

在给定可用控制带宽和参数不确定程度的情况下,提出了一种新的连续互补滑动控制来提高跟踪性能。与传统的连续滑动控制相比,该控制律的保证跟踪精度至少降低了一半。该控制还显著改善了到达阶段的误差瞬态响应。为了说明它的优越性,我们提出了一种串级不确定非线性系统的复合互补滑动控制方案,其中包括基准非线性问题TORA。仿真结果表明,该方法对任意初始条件和单频正弦扰动均有良好的响应。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Complementary sliding mode control of a class of nonlinear cascade systems
In this paper, a novel continuous complementary sliding control was proposed to improve the tracking performance given the available control bandwidth and the extent of parameter uncertainty. With this control law, the guaranteed tracking precision has been shown to reduce at least by half, as compared with the conventional continuous sliding control. The error transient response during the reaching phase has also been remarkably improved by the proposed control. To illustrate its superiority, we presented a composite complementary sliding control scheme for a cascade uncertain nonlinear system, which includes the benchmark nonlinear problem, TORA. Simulation results on TORA showed excellent responses to any initial conditions and to single-frequency sinusoidal disturbances.
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