Designing method for recursion integration terminal sliding mode surface of higher-order non-linear system

A nonlinear system, terminal sliding mode technology, applied in general control systems, control/regulation systems, instruments, etc., to avoid singular value problems

Inactive Publication Date: 2018-10-26
YANSHAN UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to solve the terminal sliding mode design problem for high-order nonlinear systems under the existing co

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  • Designing method for recursion integration terminal sliding mode surface of higher-order non-linear system
  • Designing method for recursion integration terminal sliding mode surface of higher-order non-linear system
  • Designing method for recursion integration terminal sliding mode surface of higher-order non-linear system

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[0042] The present invention will be further described below in conjunction with accompanying drawing:

[0043] Such as figure 1 Shown, the design method of the present invention comprises the following steps:

[0044] S1. Reorganize the general multi-input-multiple output high-order system into a general high relative degree nonlinear system. For a Class of Multiple-Input-Multiple-Output High-Order Nonlinear Systems

[0045]

[0046] Among them, X(t)=[x 1 (t),x 2 (t),...,x n (t)] T ∈R n is the status information of the system;

[0047] u(t)∈[u 1 (t), u 2 (t),...,u m (t)] T is the input of the system; y(t)∈[y 1 (t),y 2 (t),...,y m (t)] Tis the output of the system; d(t) represents the external disturbance of the system; f(X(t),d(t))∈R n is a system nonlinear dynamic equation with system uncertainty and external disturbance; h(X(t))∈R m is the output equation of the system; B(X(t))∈R n×m by the smooth vector b i ∈ R m Composition is

[0048] Suppose th...

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Abstract

The invention discloses a designing method for a recursion integration terminal sliding mode surface of a higher-order non-linear system. The method comprises steps of by use of the Lie derivative, arranging a general higher-order multi-input multi-output nonlinear system into a general high-relative degree non-linear system; designing a non-singular integration terminal sliding mode surface basedon a recursion method for the general high-relative degree non-linear system; and finally, based on the designed non-singular integration terminal sliding mode surface, giving out an exact time expression whose states are converged to the zero point. According to the invention, by introducing an integration equation, the integer orders and a recursion designing idea, a singular value problem in the design of the traditional terminal sliding mode is well avoided. A novel design idea is provided for terminal sliding mode control of the higher-order multi-input multi-output nonlinear system. Compared with the general limited time terminal sliding mode, by introducing high-power items, fixed time convergence is achieved, so dependence on system state values when a system track reaches the sliding mode surface is avoided.

Description

technical field [0001] The invention relates to the technical field of terminal sliding mode design, in particular to a terminal sliding mode design problem for high-order multiple-input-multiple-output nonlinear systems. Background technique [0002] In recent years, sliding mode control has been widely used in the control of uncertain systems because of its advantages of robustness in the presence of internal parameter uncertainties and external disturbances under sliding mode control. As we all know, the existing sliding mode control mainly includes traditional linear sliding mode control and nonlinear terminal sliding mode control. Compared with the linear sliding mode, which can only provide asymptotic stability, the terminal sliding mode can provide faster convergence speed and higher convergence accuracy for the control system. However, due to the application of fractional power functions in general terminal sliding mode control, there are inherent singular value pro...

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Application Information

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IPC IPC(8): G05B13/02
CPCG05B13/024
Inventor 杨亚娜李军朋华长春
Owner YANSHAN UNIV
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