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对于一类具有不确定性扰动的非线性系统,提出了一种积分补偿的滑模控制器设计方法。为消除抖动现象,在切换面的邻近设置一边界层,在边界层外部,采用滑模控制方法驱动系统状态进入边界层。在边界层内部,在传统连续控制的基础上,引入积分补偿作用,以改善系统的稳态性能。对控制系统的稳定性进行了分析,并以倒立摆为对象进行了仿真验证,结果表明该控制方法是有效的。
For a class of nonlinear systems with uncertain perturbation, a sliding mode controller design method of integral compensation is proposed. In order to eliminate the jitter phenomenon, a boundary layer is set in the vicinity of the switching surface, and the sliding mode control method is used to drive the system state into the boundary layer outside the boundary layer. In the interior of the boundary layer, on the basis of traditional continuous control, integral compensation is introduced to improve the steady state performance of the system. The stability of the control system is analyzed, and the simulation of the inverted pendulum is carried out. The results show that the control method is effective.