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针对一类不确定非线性系统的传统滑模控制,推导了滑模误差和稳态误差的范围.为了减小系统的稳态误差,同时防止积分饱和,设计了一种改进积分型滑模面.在边界层外,通过调节因子对积分项进行削弱,以防止在初始误差较大的条件下积分饱和引起的超调较大和调节时间较长的问题;在边界层内,采用传统积分以减小系统稳态误差.理论分析和仿真研究表明了所提改进积分型滑模控制方法的有效性.
For the traditional sliding mode control of a class of uncertain nonlinear systems, the range of sliding mode error and steady-state error is deduced.In order to reduce the steady-state error of the system and prevent the integral saturation, an improved integral sliding mode surface In the boundary layer, the integral term is weakened by the adjustment factor to prevent large overshoot caused by integral saturation under the condition of large initial error and long adjustment time. In the boundary layer, the traditional integral is used to reduce Small system steady-state error.The theoretical analysis and simulation results show that the proposed improved integral sliding mode control method is effective.