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针对一类非线性系统的稳定控制问题,提出了一种终端滑模分解控制器的设计方法。首先将整个系统分解成两个二阶子系统,设计两个子系统各自的终端滑模面;然后将一个子系统的控制目标嵌入到另一个子系统的控制目标中,用一个控制量使两个子系统在有限时间内收敛至平衡点。该方法对于维数较高系统的控制具有较大意义,可简化设计。倒立摆的仿真结果验证了该方法的有效性。
Aiming at the stability control of a class of nonlinear systems, a design method of terminal sliding mode decomposition controller is proposed. Firstly, the whole system is decomposed into two second-order subsystems, and the terminal sliding-mode surfaces of the two subsystems are designed. Then the control target of one subsystem is embedded into the control target of the other subsystems, and the two subsystems The system converges to the equilibrium point for a limited time. This method is of great significance to the control of higher dimensional system, which can simplify the design. The simulation results of the inverted pendulum validate the effectiveness of this method.