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针对离散滑模趋近律形式多样且容易产生高频抖振的问题,提出了离散滑模趋近律的一般形式,并给出了无抖振的到达条件及其理论证明,从一般意义上为离散滑模趋近律的设计提供了理论依据.针对满足匹配条件的不确定系统,给出了切换函数收敛域的推导方法,推导了无抖振的最小收敛域.以典型的高氏指数趋近律为例,利用无抖振的到达条件,对其一般形式进行了无抖振改进,验证了所提出方法的有效性.
Aiming at the problem that the approach of discrete sliding mode approach law is diverse and easy to produce high-frequency chattering, the general form of the discrete sliding mode approach law is proposed and the condition and theoretical proof of chattering-free arrival are given. In the general sense Which provides a theoretical basis for the design of the discrete sliding mode approach law.Aiming at the uncertain system which satisfies the matching conditions, the derivation method of the switching function convergence region is given and the minimum convergence region without chattering is deduced.The typical convergence index For example, using the reaching law, the chattering-free arrival condition is used to improve its general form without chattering, which verifies the effectiveness of the proposed method.