TORA系统基于自调节滑模干扰补偿器的解耦滑模控制

Decoupled sliding mode control of TORA system based on self-tuning sliding mode disturbance compensator

摘要:

针对欠驱动TORA系统,提出一种基于自调节滑模干扰补偿器的解耦滑模控制方法。所提出的控制方法无需系统不确定性上界的先验信息,对于系统不确定性具有良好的适应性。该控制方法包括设计一种自调节滑模干扰补偿器和一种新型的双幂次趋近律,所设计的自调节滑模干扰补偿器能够利用切换增益自适应算法准确逼近上界未知的系统不确定性,所提出的新型双幂次趋近律能够保证系统状态的快速趋近并抑制控制器的高频抖动。采用Lyapunov稳定性理论证明闭环控制系统的稳定性,并通过数值仿真实验验证所提出的控制方法的有效性。

Abstract:

A decoupled sliding mode control method based on self-tuning sliding mode disturbance compensator is proposed for underactuated TORA system. The proposed control method does not need the prior information of the upper bound of the system uncertainties, and it has good adaptability to the system uncertainties. This control method includes the design of a self-tuning sliding mode disturbance compensator and a novel double power reaching law. The designed self-tuning sliding mode disturbance compensator can accurately approximate the system uncertainties with unknown upper bound by using a switching gain adaptation algorithm. The proposed novel double power reaching law can suppress high frequency chattering of the decoupled sliding mode controller and guarantee fast reaching of the system states. The stability of the closed-loop control system is proved by Lyapunov stability theory, and the effectiveness of the proposed control method is verified by numerical simulation.