基于非线性干扰观测器不确定系统的终端滑模控制

韩吉霞; 马飞越; 佃松宜; 罗连杰; 胡怡

doi:doi:10.3969/j.issn.1671-637x.2020.02.007

电光与控制, 2020, 27 (2): 29, 网络出版: 2020-05-12

基于非线性干扰观测器不确定系统的终端滑模控制

Terminal Sliding Mode Control for Uncertain Systems Based on Nonlinear Disturbance Observer

论文大纲

韩吉霞 ¹马飞越 ²佃松宜 ¹罗连杰 ¹胡怡 ¹

作者单位

¹ 四川大学电气信息学院,成都 610065

² 国网宁夏电力公司电力科学研究院,银川 750011

摘要

针对一类存在非匹配干扰和建模误差的高阶非线性系统,结合滤波反步控制方法,设计一种基于非线性干扰观测器的自适应反步非奇异终端滑模控制方案。首先,设计一种有限时间稳定的非线性干扰观测器,以此对非匹配干扰进行估计和补偿。采用反步控制处理高阶不确定非线性系统,结合动态面控制设计虚拟控制律,避免传统反步设计中存在的“微分爆炸”问题；第n步结合自适应控制和非线性干扰观测器,设计非奇异终端滑模控制律,消除建模误差和非匹配干扰对系统的影响。基于Lyapunov理论证明跟踪误差一致最终有界。仿真结果验证了所设计控制方案的有效性。

Abstract

For the class of high-order nonlinear systems with unmatched disturbances and modeling error, an Adaptive Backstepping Non-singular Terminal Sliding Mode Control (ABNTSMC) scheme based on Nonlinear Disturbance Observer (NDO) is proposed combined with filtered backstepping method.Firstly, a finite-time stable nonlinear disturbance observer is designed to estimate and compensate for the unmatched disturbances.The backstepping method is employed to deal with high-order uncertain nonlinear systems.To avoid the explosion of differentiation in traditional backstepping control, the dynamic surface control method is used to design the virtual controller.In the nth step, a non-singular terminal sliding mode controller is designed based on the adaptive control and NDO to eliminate the effects of unmatched disturbances and modeling error on the systems.It is proved that the tracking error is guaranteed to be uniformly and ultimately bounded by using Lyapunov theorem.Finally, the simulation results prove the efficacy of the proposed method.

参考文献

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韩吉霞, 马飞越, 佃松宜, 罗连杰, 胡怡. 基于非线性干扰观测器不确定系统的终端滑模控制[J]. 电光与控制, 2020, 27(2): 29. HAN Jixia, MA Feiyue, DIAN Songyi, LUO Lianjie, HU Yi. Terminal Sliding Mode Control for Uncertain Systems Based on Nonlinear Disturbance Observer[J]. Electronics Optics & Control, 2020, 27(2): 29.

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