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针对一类SISO非线性不确定系统,提出一种基于扰动观测器的非奇异终端滑模(NTSM)控制策略.在保证控制器非奇异性的情况下,设计了一种改进的NTSM函数,理论分析证明了到达滑模面的时间小于传统NTSM控制算法的到达时间.同时为了消除系统扰动量对控制器抖振的影响,设计了一种线性扰动观测器以降低滑模切换项的增益,并采用Sigmoid函数来替代传统的符号函数.仿真结果表明了所得结论的正确性和有效性.
In this paper, a non-singular terminal sliding mode (NTSM) control strategy based on disturbance observer is proposed for a class of SISO nonlinear uncertain systems. An improved NTSM function is devised to guarantee the non-singularity of the controller. The theory The analysis shows that the arrival time of the sliding mode surface is less than the arrival time of the traditional NTSM control algorithm.At the same time, in order to eliminate the influence of system disturbance on controller chattering, a linear perturbation observer is designed to reduce the gain of the sliding mode switching term The Sigmoid function is used to replace the traditional symbol function.The simulation results show the correctness and validity of the conclusion.