2.845

2023影响因子

(CJCR)

  • 中文核心
  • EI
  • 中国科技核心
  • Scopus
  • CSCD
  • 英国科学文摘

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

一种多幂次滑模趋近律设计与分析

张瑶 马广富 郭延宁 曾添一

张瑶, 马广富, 郭延宁, 曾添一. 一种多幂次滑模趋近律设计与分析. 自动化学报, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377
引用本文: 张瑶, 马广富, 郭延宁, 曾添一. 一种多幂次滑模趋近律设计与分析. 自动化学报, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377
ZHANG Yao, MA Guang-Fu, GUO Yan-Ning, ZENG Tian-Yi. A Multi Power Reaching Law of Sliding Mode Control Design and Analysis. ACTA AUTOMATICA SINICA, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377
Citation: ZHANG Yao, MA Guang-Fu, GUO Yan-Ning, ZENG Tian-Yi. A Multi Power Reaching Law of Sliding Mode Control Design and Analysis. ACTA AUTOMATICA SINICA, 2016, 42(3): 466-472. doi: 10.16383/j.aas.2016.c150377

一种多幂次滑模趋近律设计与分析

doi: 10.16383/j.aas.2016.c150377
基金项目: 

国家自然科学基金 61403103

中央高校基本科研业务费专项基金 HIT.NSRIF.2014035

国家自然科学基金 61174200

国家重点基础研究发展计划(973计划) 2012CB720000

中国博士后科学基金 2014M550195

详细信息
    作者简介:

    张瑶 哈尔滨工业大学控制科学与工程系博士研究生.主要研究方向为航天器姿态控制及滑模控制理论.E-mail:yaozhanghit@outlook.com

    马广富 哈尔滨工业大学控制科学与工程系教授.主要研究方向为航天器姿态控制, 卫星编队控制.E-mail:magf@hit.edu.cn

    曾添一 北京理工大学自动化学院博士研究生.主要研究方向为多电机驱动控制及机构参数与控制器一体化设计.E-mail:blessno@163.com

A Multi Power Reaching Law of Sliding Mode Control Design and Analysis

Funds: 

National Natural Science Foundation of China 61403103

the Fundamental Research Funds for the Central Universities HIT.NSRIF.2014035

National Natural Science Foundation of China 61174200

National Basic Research Program of China(973 Program) 2012CB720000

China Postdoctoral Science Foundation 2014M550195

More Information
    Author Bio:

    Ph. D. candidate in the Department of Control Science and Engineering, Harbin Institute of Technology. Her research interest covers attitude control of spacecraft and sliding mode control

    Professor in the Department of Control Science and Engineering, Harbin Institute of Technology. His research interest covers attitude control of spacecraft and satellite formation control

    Ph. D. candidate at the School of Automation, Beijing Institute of Technology. His research interest covers motor drive control and integration of mechanism parameters and controller design

    Corresponding author: GUO Yan-Ning Associate professor in the Department of Control Science and Engineering, Harbin Institute of Technology. His research interest covers attitude control of spacecraft. Corresponding author of this paper
  • 摘要: 针对传统滑模趋近律使系统存在抖振现象、收敛速度较慢及动态响应不平滑等问题, 提出一种多幂次滑模趋近律.该趋近律通过三个幂次项系数在系统趋近过程不同阶段进行针对性地调节, 使系统动态响应过程的收敛速度大幅度提高, 且无抖振现象.理论验证了其存在性、可达性及稳定性, 并详细推导了趋近速率及干扰稳定界.以航天器姿态机动控制系统为例, 对比仿真结果表明该趋近律下, 系统的动态过程有较大改善并消除了抖振, 且在存在模型不确定性及外加干扰作用下, 系统仍可较快地收敛到平衡点附近的邻域内.
  • 图  1  不同趋近律下航天器姿态跟踪情况

    Fig.  1  Attitude tracking under reaching laws

    图  2  不同趋近律下s随时间变化情况

    Fig.  2  Condition of s under reaching laws

    图  3  不同趋近律下控制器输出u随时间变化情况

    Fig.  3  Controller output u under reaching laws

    图  4  外加干扰下s的收敛情况

    Fig.  4  Convergence condition of s with interference

    图  5  外加干扰下ds的收敛情况

    Fig.  5  Convergence condition of ds with interference

    表  1  各趋近律仿真参数

    Table  1  Simulation parameters of every reaching law

    abcd
    ka=0.9kb=0.7kc1=0.7k1=0.7
    εa=0.5αb=1.1kc2=0.9k2=0.9
    αc=1.1k3=1.1
    βc=0.8k4=1.4
    α=1.7
    β=0.5
    下载: 导出CSV
  • [1] Shtessel Y B, Shkolnikov I A, Levant A. Smooth second-order sliding modes:missile guidance application. Automatica, 2007, 43(8):1470-1476 doi: 10.1016/j.automatica.2007.01.008
    [2] Gao W B, Hung J C. Variable structure control of nonlinear systems:a new approach. IEEE Transactions on Industrial Electronics, 1993, 40(1):45-55 doi: 10.1109/41.184820
    [3] 李雪冰, 马莉, 丁世宏.一类新的二阶滑模控制方法及其在倒立摆控制中的应用.自动化学报, 2015, 41(1):193-202 http://www.aas.net.cn/CN/abstract/abstract18598.shtml

    Li Xue-Bing, Ma Li, Ding Shi-Hong. A new second-order sliding mode control and its application to inverted pendulum. Acta Automatica Sinica, 2015, 41(1):193-202 http://www.aas.net.cn/CN/abstract/abstract18598.shtml
    [4] Moulay E, Perruquetti W. Finite time stability conditions for non-autonomous continuous systems. International Journal of Control, 2008, 81(5):797-803 doi: 10.1080/00207170701650303
    [5] Lian R J. Adaptive self-organizing fuzzy sliding-mode radial basis-function neural-network controller for robotic systems. IEEE Transactions on Industrial Electronics, 2014, 61(3):1493-1503 doi: 10.1109/TIE.2013.2258299
    [6] Tsai C H, Chung H Y, Yu F M. Neuro-sliding mode control with its applications to seesaw systems. IEEE Transactions on Neural Networks, 2004, 15(1):124-134 doi: 10.1109/TNN.2003.811560
    [7] Wu J C, Liu T S. A sliding-mode approach to fuzzy control design. IEEE Transactions on Control Systems Technology, 1996, 4(2):141-151 doi: 10.1109/87.486340
    [8] 高为炳.变结构控制的理论及设计方法.北京:科学出版社, 1996. 241-254

    Gao Wei-Bing. Theory and Design Method for Variable Sliding Mode Control. Beijing:Science Press, 1996. 241-254
    [9] Yu S H, Yu X H, Shirinzadeh B, Man Z H. Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica, 2005, 41(11):1957-1964 doi: 10.1016/j.automatica.2005.07.001
    [10] Bandyopadhyay B, Fulwani D, Park Y J. A robust algorithm against actuator saturation using integral sliding mode and composite nonlinear feedback. In:Proceedings of the 17th IFAC World Congress. COEX, Korea, South:IFAC, 2008. 14174-14179
    [11] 梅红, 王勇.快速收敛的机器人滑模变结构控制.信息与控制, 2009, 38(5):552-557 http://www.cnki.com.cn/Article/CJFDTOTAL-XXYK200905008.htm

    Mei Hong, Wang Yong. Fast convergent sliding mode variable structure control of robot. Information and Control, 2009, 38(5):552-557 http://www.cnki.com.cn/Article/CJFDTOTAL-XXYK200905008.htm
    [12] 张合新, 范金锁, 孟飞, 黄金峰.一种新型滑模控制双幂次趋近律.控制与决策, 2009, 38(5):289-293 http://www.cnki.com.cn/Article/CJFDTOTAL-KZYC201302024.htm

    Zhang He-Xin, Fan Jin-Suo, Meng Fei, Huang Jin-Feng. A new double power reaching law for sliding mode control. Control and Decision, 2013, 28(2):289-293 http://www.cnki.com.cn/Article/CJFDTOTAL-KZYC201302024.htm
    [13] Fallaha C J, Saad M, Kanaan H Y, Al-Haddad K. Sliding-mode robot control with exponential reaching law. IEEE Transactions on Industrial Electronics, 2011, 58(2):600-610 doi: 10.1109/TIE.2010.2045995
    [14] 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 doi: 10.1049/iet-cta.2009.0296
    [15] Jerouane M, Sepehri N, Lamnabhi-Lagarrigue F. Dynamic analysis of variable structure force control of hydraulic actuators via the reaching law approach. International Journal of Control, 2004, 77(14):1260-1268 doi: 10.1080/00207170412331305579
    [16] Utkin V I. Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 1977, 22(2):212-222 doi: 10.1109/TAC.1977.1101446
    [17] 刘连福.一类一阶微分方程的通解及应用.黄石理工学院学报, 2011, 27(4):41-42 http://www.cnki.com.cn/Article/CJFDTOTAL-HSGD201104011.htm

    Liu Lian-Fu. Application and ordinary solution of a kind of first order differential equation. Journal of Huangshi Institute of Technology, 2011, 27(4):41-42 http://www.cnki.com.cn/Article/CJFDTOTAL-HSGD201104011.htm
    [18] Bhat S P, Bernstein D S. Continuous finite-time stabilization of the translational and rotational double integrators. IEEE Transactions on Automatic Control, 1998, 43(5):678-682 doi: 10.1109/9.668834
    [19] Zhao Y X, Wu T, Li G. A second-order sliding mode controller design for spacecraft tracking control. Mathematical Problems in Engineering, 2013, 2013:Article ID 429101
  • 加载中
图(5) / 表(1)
计量
  • 文章访问数:  2800
  • HTML全文浏览量:  287
  • PDF下载量:  1279
  • 被引次数: 0
出版历程
  • 收稿日期:  2015-06-16
  • 录用日期:  2015-11-06
  • 刊出日期:  2016-03-01

目录

    /

    返回文章
    返回