摘要
针对一类高阶滑模算法收敛速度慢、控制作用不连续等不足,以二自由度轮式机器人为控制对象设计了改进算法.首先,引入虚拟控制项以增加系统相对阶的形式进行高阶滑模算法改进,得出了一种新的高阶滑模控制律.与原算法相比,系统收敛速度快、控制作用平滑连续.然后,为解决二阶超螺旋算法仅适用于系统相对阶为1的问题,以跟踪误差的高阶导数建立滑动量,构造适用于高阶系统的二阶超螺旋算法.最后,通过数值仿真验证了改进算法的有效性.
Modifications are made by using two-dimensional wheeled mobile robot as the control object for solving drawbacks existing in higher order sliding mode control algorithms, such as slowness of the convergence rate and discontinuity of the control action. Firstly, by utilizing virtual item for increasing the relative order of system, a new higher order sliding mode algorithm is achieved. Compared with original algorithms, faster convergence rate and smooth control action can be achieved. Then, by using tracking error＇s derivative of higher order as the sliding surface, the problem that super-twisting algorithm only holds true for systems of first relative order is solved and the new algorithm can be applied to higher relative order systems. Finally, numerical simulations show effectiveness of the algorithms.
出处
《控制与决策》
EI
CSCD
北大核心
2011年第9期1436-1440,共5页
Control and Decision
关键词
高阶滑模
虚拟控制
准连续高阶滑模
超螺旋算法
平滑连续
higher order sliding mode. virtual control, quasi-continuous higher order sliding mode, super-twisting
smoothness and continuity
