含惯性传感器的滑模系统的抖振分析

Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) Pub Date : 2001-12-04 DOI:10.1109/CDC.2001.981167

L. Fridman

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引用次数: 151

摘要

考虑了二阶滑模奇异摄动继电器控制系统的建模问题。证明了描述原SP2SM在二阶滑动域中运动的光滑奇摄动系统的渐近稳定慢运动积分流形(ASSMIM)是原SP2SM的渐近稳定慢运动积分流形。对于具有惯性传感器的滑模控制系统，得到了抖振幅值呈指数递减和频率无限增长的充分条件。对于具有惯性传感器的滑模系统，提出了“理想”切换面振荡的渐近表示公式。

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Chattering analysis in sliding mode systems with inertial sensors

Singularly-perturbed relay control systems with 2nd-order sliding modes (SP2SM) are considered for modeling sliding-mode control systems with inertial sensors. It is shown that the asymptotically stable slow-motions integral manifold (ASSMIM) of a smooth singularly-perturbed system, describing the motion of the original SP2SM in the 2nd-order sliding domain, is the ASSMIM of the original SP2SM. For sliding-mode control systems with inertial sensors, sufficient conditions for the exponentially decreasing amplitude of chattering and the unlimited growth of frequency are found. A formula for the asymptotic representation of "ideal" switching surface oscillations is suggested for sliding-mode systems with inertial sensors.

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Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228)

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