考虑输入饱和的离散最优积分滑模控制

针对含有匹配有界干扰的线性离散系统, 提出一类最优积分滑模控制算法. 在系统开环极点位于单位圆内(上) 的前提下, 考虑输入饱和, 可以实现系统状态的半全局稳定. 该算法是低增益反馈和积分滑模的有益结合, 通过低增益反馈使输入饱和得到满足, 通过滑模控制增强了系统对干扰的鲁棒性; 另外, 该算法可以使特定的性能指标达到最优, 使系统稳态误差达到??(??²) 的量级. 仿真结果验证了所提出算法的有效性.

Discrete-time optimal integral sliding mode control with input saturation

An optimal integral sliding mode control algorithm for linear discrete-time systems with matched bounded disturbances is proposed. Under the premise that poles of the open-loop system locate inside or on the unit circle, the scheme can semi-globally regulate the system in the presence of input saturation. The scheme is an effective combination of low-gain feedback and integral sliding mode, for it can satisfy the input limit via low-gain feedback and improve the robustness of the system to disturbances owing to sliding mode control. Moreover, the method can minimize the specific performance index and achieve ??(??²) steady-state error. Simulation results show the effectiveness of the proposed method.