一类非线性系统的终端滑模分解控制

针对一类非线性系统的稳定控制问题,提出了一种终端滑模分解控制器的设计方法.首先将整个系统分解成两个二阶子系统,设计两个子系统各自的终端滑模面;然后将一个子系统的控制目标嵌入到另一个子系统的控制目标中,用一个控制量使两个子系统在有限时间内收敛至平衡点.该方法对于维数较高系统的控制具有较大意义,可简化设计.倒立摆的仿真结果验证了该方法的有效性.

Terminal Sliding Mode Decomposed Control for a Class of Nonlinear Systems

A terminal sliding mode decomposed control method was proposed for the stability of a class of nonlinear systems. First, the whole system was decomposed into two second-order systems and their separate sliding surface of each subsystem was designed. Then the control target of one subsystem to another subsystem was embed. A control action was utilized to make both subsystems converge to the equilibrium points in finite time. With simple control, the proposed method has signification for high-order systems. The simulation results on the inverted pendulum system were given to illustrate the validity.