非奇异终端滑模控制系统相轨迹和暂态分析

摘要

In this paper,for second order nonlinear systems with nonsingular terminal sliding mode (NTSM) control,phase trajectory patterns and critical surfaces are studied.The relationship between the initial state and the sliding mode reaching time is explored and a reaching time estimation algorithm is given.Simulations are presented to show the effectiveness of the analysis and algorithm.%对于采用非奇异终端滑模控制的二阶系统,考虑到不同的初始状态,研究了其相轨迹的分布规律,给出了临界曲面的概念和解析表达.基于相轨迹的分布,考虑了系统初始状态与到达滑模面时间的关系,探讨了到达时间最大值的估计算法,并给出了非奇异终端滑模控制系统的收敛时间的数学表达.通过仿真验证了相轨迹的分布规律和临界曲面的正确性,以及根据系统初值估计到达时间的有效性.