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为解决现有终端滑模控制算法在收敛速度和抖振方面的问题,提出一种连续非奇异快速终端滑模控制方法.采用变系数双幂次趋近率和非奇异快速终端滑模面相结合的设计方式,提高系统状态在趋近和滑动阶段的收敛速度.通过Lyapunov稳定性方法证明所提出的控制率可使得状态轨迹在扰动存在的情况下,在有限时间内快速收敛到一个区域.与传统方法相比,所提出的控制率是连续的,因此抑制了抖振,拥有更高的控制精度.将所提出的方法应用于光电稳定平台,仿真结果验证了算法的有效性.
In order to solve the problem of convergence rate and chattering in existing terminal sliding mode control algorithms, a continuous non-singular and fast terminal sliding mode control method is proposed.Combined with variable coefficient barycenter reaching rate and non-singular fast terminal sliding mode And the convergence speed of the system in the approaching and sliding stages is improved.The Lyapunov stability method is used to prove that the proposed control rate can make the state trajectory converge quickly to a region within a limited time in the presence of disturbance. Compared with the traditional method, the proposed control rate is continuous, so the chattering is suppressed and the control accuracy is higher. The proposed method is applied to the electro-optical stabilization platform. The simulation results show the effectiveness of the proposed algorithm.