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常规变结构控制用于不确定系统 ,须利用不确定性界确保系统的鲁棒性 ,控制器过于保守且抖振变大 .本文把未知干扰和参数不确定性的影响等效为名义系统的外界干扰 ,利用时延技术对干扰进行在线估计 ,并将估计值引入到变结构控制中 ,从而抵消掉系统中的慢变不确定性 ,利用离散趋近律法 ,推出了准滑动模态的存在条件及其带宽 .该方法克服了以往控制方法中须已知不确定性界的限制 ,且不必满足匹配条件 ,用较低的控制增益保证了系统的鲁棒性 ,降低了准滑动模态带即削弱了抖振 .
Conventional variable structure control is used in uncertain system, the robustness of the system must be ensured by using the uncertainties, the controller is too conservative and the chattering becomes larger.In this paper, the influence of unknown disturbance and parameter uncertainty is equivalent to that of nominal system External disturbances, the on-line estimation of the disturbance is carried out by using the time delay technique, and the estimation is introduced into the variable structure control so as to counteract the slowly varying uncertainty in the system. By using the discrete approach method, the quasi-sliding mode Existence condition and bandwidth of this method.The method overcomes the limitations of the known uncertainties in the past control methods and does not need to meet the matching conditions, ensures the robustness of the system with lower control gain and reduces the quasi-sliding mode The band weakens chattering.