论文部分内容阅读
针对一类非匹配不确定离散系统,设计一种无抖振离散积分滑模控制器.为了抑制非匹配不确定性对系统的影响,采用线性矩阵不等式方法设计一种新型的切换函数和对应的滑模控制律,并证明了闭环系统的Lyapunov稳定性.同时,引入饱和函数设计控制器,使系统状态在积分滑模面的某个小邻域内做准滑模运动,并通过合理选择饱和函数的边界层厚度,使控制信号不含任何抖振.理论分析和数值仿真验证了所提出方法的有效性.
For a class of unmatched uncertain discrete systems, a chattering-free discrete-time integral sliding mode controller is designed.In order to suppress the influence of unmatched uncertainties on the system, a new type of switching function and its corresponding Sliding mode control law and the Lyapunov stability of the closed-loop system are proved. At the same time, the controller is designed by introducing the saturation function, and the system state is quasi-sliding mode motion in a small neighborhood of the integral sliding mode surface. The thickness of the boundary layer, so that the control signal does not contain any chattering.The theoretical analysis and numerical simulation verify the effectiveness of the proposed method.