摘要
针对存在外界干扰的连续系统,讨论了状态空间模型的离散自适应滑模控制.引入δ算子使离散化后的系统接近于原来的连续系统,并引入干扰估计器得到干扰的近似估计值,使所选的控制律得以实现.当参数未知时,用干扰估计值代替未知干扰,避免了干扰对自适应控制律的影响,从而保证了闭环系统的稳定性.
presented. estimator obtained. The discrete adaptive sliding mode control for continuous systems in the presense of disturbances is The discretization system approximates a continuous system by using the 8 operator. A disturbance is introduced according to the unknown disturbance, and the approximate estimat of disturbance is The controller guarantees the stability of the closed-loop system.
出处
《控制与决策》
EI
CSCD
北大核心
2005年第11期1317-1320,共4页
Control and Decision
关键词
离散系统
滑动模态控制
干扰估计器
自适应控制律
Discrete system
Sliding mode control
Disturbance estimator
Adaptive control law
