多变量线性模型不确定系统终端滑模分解控制方法

Terminal sliding mode decomposed control of multivariable linear uncertain systems

中文关键词  多变量系统  标准型分解  终端滑模控制  变结构系统

英文关键词  multivariable system  canonical decomposition  terminal sliding mode control  variable structure systems

中文摘要

      针对线性多变量模型不确定系统系统,提出了一种终端滑模分解控制方法.通过状态变换和去耦合处理将系统转换为块能控标准型,它由值域空间子系统和稳定的零空间子系统组成.提出了特殊的终端滑模超曲面,采用滑模控制策略,使值域空间子系统的状态在有限时间内收敛至平衡点,随后稳定的零空间子系统渐近收敛至平衡点.所提出的方法对于维数较高系统的控制具有较大意义,可简化设计,实现递阶控制.仿真验证了该方法的有效性.

英文摘要

      A terminal sliding mode decomposed control method for a linear multivariable system with parameter uncertainties and external disturbances was proposed. The system was converted to the block controllable form consisting of two parts, one was the range space subsystem and the other was the stable null space subsystem. The special terminal sliding mode was proposed for the range space subsystem, and the control law was designed to drive the state variables of the range space subsystem to the equilibrium points within a finite time. Then, the state variables of the stable null space subsystem converged to the equilibrium points asymptotically. The method proposed is significant for linear multivariable systems with high dimensions, which can simplify the design of controller and realize hierarchical control. Simulation results are presented to validate the design.