一种改进指数趋近律单向辅助面滑模控制

摘要

为改进连续非线性系统中基于指数趋近律的单向辅助面滑模控制方法性能方面存在的缺陷,提出了一种改进指数趋近律的控制方法.依据给定的连续非线性系统和状态约束,设计基于指数趋近律的单向辅助面滑模控制器,在此基础上引入了改进指数趋近律单向辅助面滑模控制器,并给出有限时间收敛的理论证明和收敛时间计算公式.仿真结果表明改进的指数趋近律单向辅助面滑模控制方法具有更快的收敛速度和更有效的抖振抑制能力.%In order to improve the disadvantages of the sliding mode control with unidirectional auxiliary surfaces (UAS-SMC) based on exponential approach law for a class of nonlinear continuous systems,this paper proposed an improved exponential approach law control method.Firstly,according to the nonlinear continuous systems and state constraints,this paper designed the UAS-SMC based on exponential reaching law.Based on this reaching law,it introduced the improved exponential reaching law.Then it proved that the system states would converge to the switching surfaces in a finite time and presented the formula of the convergence time.The simulation results demonstrate that,compared with ordinary UAS-SMC based on the exponential approach law,the UAS-SMC based on the improved exponential approach law controller can more effectively suppress the chattering and has higher convergence speed.