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提出一种全局非奇异终端滑模控制器 ,可用于带有参数不确定和外部扰动的二阶非线性系统。证明了系统从任意初始状态到达滑模的时间和在滑模上到达平衡点的时间均为有限 ,分析了终端滑模控制用于不确定性系统的跟踪精度 ,推导了系统跟踪精度和用于消除抖振的饱和函数宽度之间的数学关系。根据给定的跟踪精度 ,可设计出合适的饱和函数。仿真结果证明了所提出方法的有效性
A global non-singular terminal sliding mode controller is proposed for a second-order nonlinear system with parameter uncertainty and external perturbation. It is proved that the time when the system reaches the sliding mode from any initial state and the time it reaches the equilibrium point on the sliding mode are both finite. The tracking accuracy of the terminal sliding mode control for the uncertain system is analyzed, and the tracking accuracy of the system is deduced. Mathematical relationship between the width of the saturation function and the chattering elimination. Given a given tracking accuracy, a suitable saturation function can be designed. Simulation results prove the effectiveness of the proposed method