不确定时滞切换系统的鲁棒滑模控制

摘要

该文研究了一类具有非匹配不确定性和非线性扰动的时滞切换系统的滑模控制问题.首先,针对每个子系统设计对应的时滞依赖滑模面,利用驻留时间方法,给出了由滑动模态方程组成的切换系统鲁棒渐近稳定的充分条件;然后设计了滑模控制器,使得闭环系统的状态能够到达滑模面上,产生滑动模态.最后,仿真实例说明所提出方法的有效性.%The sliding-mode control problem is studied for a class of time-delayed switched systems with mismatched uncertainties and nonlinear disturbances.The delay-dependent sliding surface is designed for each subsystem by using the dwell-time approach.The sufficient condition is deduced under which the switched system composed by sliding-mode dynamic equations is robustly asymptotically stable.Furthermore,a sliding-mode controller is designed which ensure the reachability of the sliding surface;thus the sliding-mode dynamics is resulted.A numerical example illustrates the effectiveness of the proposed design method.