具有预定稳定时间的单侧约束平面系统的有限时间跟踪:二阶滑模合成和无抖振数字实现

Harshal B. Oza, Vincent Acary, Y. Orlov, S. Spurgeon, B. Brogliato
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引用次数: 2

摘要

本文建立了一类单侧约束平面系统在连续和离散事件阶段存在外部干扰时,利用二阶滑模控制器实现有限时间跟踪的整定规则。在不稳定平衡处加入刚体非弹性冲击。提出了一种无抖振的数字实现方法。这种实施虽然有坚实的理论基础,但似乎使该领域目前的进展更接近工业应用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Finite time tracking of unilaterally constrained planar systems with pre-specified settling time: Second order sliding mode synthesis and chattering-free digital implementation
In this paper, tuning rules are established when a second order sliding mode controller is utilized to achieve finite time tracking for a class of unilaterally constrained planar systems in the presence of external disturbances in continuous and discrete-event phases. Rigid body inelastic impacts are incorporated at the unstable equilibrium. A numerical chattering-free digital implementation is also presented. This implementation, while being based on strong theoretical foundations, appears to bring the present advances in the area closer to industrial application.
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