一类具有参数不确定n阶多输入多输出非线性系统的Terminal滑模控制

Terminal sliding-mode control for a class of nth-order multi-input multi-output nonlinear system with uncertain parameters

中文关键词  n阶MIMO非线性系统  Terminal  滑模控制  有限时间  全局鲁棒性

英文关键词  nth-order MIMO nonlinear system  Terminal  sliding-mode control  finite time  global robustness

中文摘要

      针对一类具有参数不确定的n阶MIMO非线性系统, 提出了一种Terminal滑模控制方案. 该方案通过对滑模超平面的选取和Terminal滑模控制律的设计, 不但确保了闭环系统滑模阶段的存在性, 而且还保证了系统状态误差在有限时间内的收敛性. 由于无论何种情况下系统的初始状态均在Terminal滑模面上, 从而消除了其他滑模控制方法常有的到达阶段, 使得闭环系统具有全局鲁棒性和稳定性. 除此之外, 重点克服了控制输入的系数函数矩阵与不确定参数的关联问题. 仿真结果表明, 该控制方案可消除外部扰动及参数不确定的影响, 控制系统各状态变量有效地跟踪期望状态.

英文摘要

      A terminal sliding-mode control scheme is proposed for a class of nth-order MIMO nonlinear systems with uncertain parameters. Through the sliding hyperplane selection and the terminal sliding-mode control law design, the proposed control scheme not only guarantees that the sliding phase of the closed-loop system always exists, but also ensures that the output tracking error converges to zero in finite time. Meanwhile, since the initial state of system is always on the terminal sliding surface, the control scheme can eliminate the reaching phase of the other sliding-mode control and guarantee the global robustness and stability of the closed-loop system. In addition, it also solves the coupling problem between the coefficient function matrix of the control input and the uncertain parameters. Simulation results indicate that the proposed control scheme can eliminate the effect of the external disturbances and uncertain parameters on the system and control the state variables to track the desired states efficiently.