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## 留言板

 引用本文: 刘希, 孙秀霞, 董文瀚, 杨朋松. 一种新的约束变速趋近律离散滑模控制方法. 自动化学报, 2013, 39(9): 1552-1557.
LIU Xi, SUN Xiu-Xia, DONG Wen-Han, YANG Peng-Song. A New Discrete-time Sliding Mode Control Method Based on Restricted Variable Trending Law. ACTA AUTOMATICA SINICA, 2013, 39(9): 1552-1557. doi: 10.3724/SP.J.1004.2013.01552
 Citation: LIU Xi, SUN Xiu-Xia, DONG Wen-Han, YANG Peng-Song. A New Discrete-time Sliding Mode Control Method Based on Restricted Variable Trending Law. ACTA AUTOMATICA SINICA, 2013, 39(9): 1552-1557.

## A New Discrete-time Sliding Mode Control Method Based on Restricted Variable Trending Law

Funds:

Supported by National Natural Science Foundation of China (60904038)

• 摘要: 考虑惯性执行器输出速度有限的实际,引入趋近律变化速率的控制函数,设计了一种新的无抖振离散滑模变速趋近律算法. 首次提出了通过设计趋近律变化速率来构造离散滑模趋近律的思想,使得控制器的物理意义更加明显,设计更加灵活和简单.对于标称系统, 该算法可以使切换函数在有限时间内快速无抖振地收敛至零;对于满足匹配条件的不确定系统,切 换函数能够收敛至与不确定性及控制参数相关的某一数值,通过设置控制参数,可使这一数值任意小.
•  [1] Liu Jin-Kun. Matlab Simulation for Sliding Mode Control. Beijing: Tsinghua University Press, 2005 (刘金琨. 滑模变结构控制Matlab仿真. 北京: 清华大学出版社, 2005) [2] Liu Jin-Kun, Sun Fu-Chun. Research and development on theory and algorithms of sliding mode control. Control Theory and Application, 2007, 24(3): 407-418(刘金琨, 孙富春. 滑模变结构控制理论及其算法研究与进展. 控制理论与应用, 2007, 24(3): 407-418) [3] Gao W B, Wang G F, Homaifa A. Discrete-time variable structure control systems. IEEE Transactions on Industrial Electronics, 1995, 42(2): 117-122 [4] Gao Wei-Bing. Variable structure control of discrete-time systems. Acta Automatica Sinica, 1995, 21(2): 154-161(高为炳. 离散时间系统的变结构控制. 自动化学报, 1995, 21(2): 154-161) [5] Bartoszewicz A. Discrete-time quasi-sliding-mode control strategies. IEEE Transactions on Industrial Electronics, 1998, 45(4): 633-637 [6] Eun Y, Kim J H, Kim K, Cho D. Discrete-time variable structure controller with a decoupled disturbance compensator and its application to a CNC servomechanism. IEEE Transactions on Control Systems Technology, 1999, 7(4): 414-423 [7] Misawa E A. Discrete-time sliding mode control for nonlinear systems with unmatched uncertainties and uncertain control vector. Journal of Dynamic Systems, Measurement, and Control, 1997, 119(3): 503-512 [8] Tang C Y, Misawa E A. Discrete variable structure control for linear multivariable systems. Journal of Dynamic Systems, Measurement, and Control, 2000, 122(4): 783-792 [9] Zhou De-Wen, Gao Cun-Chen, Li Zi-Qiang. Reaching law of discrete-time variable structure control system. Control and Decision, 2008, 23(3): 306-309(周德文, 高存臣, 李自强. 一种离散变结构控制趋近律. 控制与决策, 2008, 23(3): 306-309) [10] Zhai Chang-Lian, Wu Zhi-Ming. Variable structure control design for uncertain discrete time systems. Acta Automatica Sinica, 2000, 26(2): 184-191(翟长连, 吴智铭. 不确定离散时间系统的变结构控制设计. 自动化学报, 2000, 26(2): 184-191) [11] Zhu Qi-Dan, Wang Tong. An improved design scheme of variable structure control for discrete-time systems. Acta Automatica Sinica, 2010, 36(6): 885-889(朱齐丹, 汪瞳. 一种改进的离散时间系统变结构控制设计方法. 自动化学报, 2010, 36(6): 885-889) [12] Gao Cun-Chen, Liu Yun-Long, Li Yun-Yan. A reaching-law method for uncertain discrete variable-structure control systems. Control Theory and Applications, 2009, 26(7): 781-785(高存臣, 刘云龙, 李云艳. 不确定离散变结构控制系统的趋近律方法. 控制理论与应用, 2009, 26(7): 781-785) [13] Sun Biao, Sun Xiu-Xia. Algorithm of discrete-time sliding mode control based on power-function. Control and Decision, 2011, 26(2): 285-288(孙彪, 孙秀霞. 基于幂次函数的离散滑模控制算法. 控制与决策, 2011, 26(2): 285-288) [14] Liu Tao, Liu He-Ping. Quasi-sliding-mode control based on discrete reaching law with dead zone. Acta Automatica Sinica, 2011, 37(6): 760-764(刘涛, 刘贺平. 一种基于死区离散趋近律的准滑模控制. 自动化学报, 2011, 37(6): 760-764) [15] Pisano A, Usai E. Sliding mode control: a survey with applications in math. Mathematics and Computers in Simulation, 2011, 81(5): 954-979 [16] Niu Y, Ho D W C, Wang Z. Improved sliding mode control for discrete-time systems via reaching law. IET Control Theory and Applications, 2010, 4(11): 2245-2251 [17] Veselic B, Perunicic-Drazenovic B, Milosavljevic C. Improved discrete-time sliding-mode position control using Euler velocity estimation. IEEE Transactions on Industrial Electronics, 2010, 57(11): 3840-3847

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##### 出版历程
• 收稿日期:  2012-04-05
• 修回日期:  2012-08-31
• 刊出日期:  2013-09-20

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