基于精确线性化的直流电机全局鲁棒滑模跟踪控制

摘要

本文针对带有非线性的直流电动机的位置跟踪问题研究其全局鲁棒滑模控制器的设计。首先，采用精确线性化理论将非线性系统转换成线性系统，然后利用全局鲁棒滑模控制策略解决系统的不确定性问题。通过仿真对直流电机负载变化时的位置跟踪情况进行对比研究，验证所提出的算法的有效性。%The problem of designing global robust sliding mode controller is considered for position tracking of DC motors with nonlinearities. First, the exact linearization technique is used to transform the nonlinear system into a linear one, and then global robust sliding mode control strategy is adopted to solve the system uncertainty problems. The effectiveness of the proposed algorithm is illustrated through comparative simulation studies on the position tracking of DC motors under load variations.