Method for controlling error to be converged in fixed time

A technology of fixed time and control method, applied in the field of control

Inactive Publication Date: 2014-01-22
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this control law is only designed for single-input-single-out systems

Method used

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  • Method for controlling error to be converged in fixed time
  • Method for controlling error to be converged in fixed time
  • Method for controlling error to be converged in fixed time

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Embodiment Construction

[0040] In order to better illustrate the purpose and advantages of the present invention, the technical solutions are further described in detail below with reference to the accompanying drawings and examples.

[0041] 1. Design of finite time control law.

[0042] Step 1. Establish a dynamic model of the second-order uncertain system:

[0043] x · 1 = x 2 x · 2 = f ( x ) + g ( x ...

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Abstract

The invention relates to a method for controlling a tracking error to be converged in fixed time, and belongs to the technical field of controlling. The method comprises the steps as follows: a dynamic model of a second-order uncertain system is established; a time-varying sliding mode function and a nonsingular terminal sliding mode function are designed, and a time-varying sliding mode controlled quantity and a nonsingular terminal sliding mode controlled quantity are obtained through respective solving and input into an established system model, so that the error is converged to 0 at the expected moment; and a nonsingular terminal sliding mode control technology is combined to design the controlled quantity, thus, the error in remaining time is kept 0. With the adoption of the method, the expected error convergence time can be set in advance, the system state is always maintained in the sliding mode, and the controlled system has overall robustness on parameter uncertainty and external disturbance.

Description

technical field [0001] The invention relates to a control method for making a tracking error converge in a fixed time, and belongs to the technical field of control. Background technique [0002] As a basic method of robust control, sliding mode control technology has many advantages, such as insensitivity to parameter changes, resistance to external disturbances, and fast dynamic response. However, the traditional sliding mode control can only ensure that the system is asymptotically stable, that is, the tracking error converges to zero in infinite time. In real-time control operations, the infinite-time convergence characteristic is often insufficient. [0003] Finite time convergence can provide more superior properties, such as: faster convergence rate, higher accuracy, better robustness to uncertainty and external disturbances, etc. In order to achieve finite-time convergence of system dynamics, some scholars have proposed a terminal sliding mode control method. This...

Claims

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Application Information

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IPC IPC(8): G05B13/04
Inventor 盛永智赵曜刘向东
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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