摘要
针对传统基于线性滑模面的滑模控制方法收敛速度慢、易于颤振的难题,提出一种新型多变量非奇异快速终端滑模控制方法.利用Lyapunov稳定性理论对该方法进行理论分析,结果表明:系统位置跟踪误差和速度跟踪误差将在有限时间内收敛到小球域内,并且小于相同参数条件下传统基于线性滑模面的滑模控制方法.以正在开发的北极星号遥控水下运载器的四自由度控制为研究对象,将该方法和基于指数趋近律的传统滑模控制方法进行仿真对比,结果表明:当存在较强未知外干扰和较大参数不确定性以及测量噪声时,该方法相对传统滑模控制方法可以获得更快的动态响应速度、更高的稳态控制精度和更平滑的控制输入.
To resolve the problems in the traditional linear hyperplane-based sliding mode control （SMC） method such as low convergence speed and easy to chattering, a novel multivariable nonsingular fast termi- nal sliding mode control （NFTSMC） method was proposed. Theoretical analysis using Lyapunov stability theory was addressed for the proposed method. The result shows that the position and velocity tracking er- rors will converge to small ball fields in finite time, and they are smaller than the ones obtained by the tra- ditional linear hyperplane-based SMC method under the same control parameters. For the 4-DOF （degrees of freedom） control of POLARIS remotely operated vehicle （ROV） which is being built up, comparative simulations were performed using the new proposed method and a traditional exponential reaching law based SMC method respectively. The results prove that the new proposed method can achieve faster dy- namic response speed, higher steady control precision and more smooth control inputs compared with the traditional SMC method in the presence of large unknown external disturbances, big parameter uncertain- ties and measurement noise.
出处
《浙江大学学报（工学版）》
EI
CAS
CSCD
北大核心
2014年第9期1541-1551,共11页
Journal of Zhejiang University：Engineering Science
基金
国家自然科学基金资助项目(51221004)
关键词
水下运载器
动力定位
滑模控制
非奇异快速终端滑模控制
多变量控制
underwater vehicles
dynamic positioning
sliding mode control
nonsingular fast terminal slid-ing mode control
multivariable control
