Fixed-time convergence nonlinear platform sliding mode control method, device and system

Abstract

The present invention proposes a non-linear platform sliding mode control method, device and system with fixed time convergence, constructs a fixed time stable subsystem based on the fixed time stability theory, and designs the sliding mode surface on this basis, the sliding mode motion convergence time is above Boundary and does not depend on the initial state; then combined with the observer, the sliding mode controller is designed with a strict positive function to solve the chattering problem while eliminating the singularity, ensuring that the sliding mode surface can be reached within a fixed time. Compared with the existing sliding mode control method, the present invention can improve the sliding mode control convergence speed, make the system state converge within a fixed time, and help improve the system robustness and control precision. The application on non-linear platforms such as drones, unmanned vehicles, and robots can effectively improve the system's anti-disturbance capability and control performance.

Description

technical field [0001] The invention belongs to the field of sliding mode control, and in particular provides a fixed time convergence nonlinear platform sliding mode control method, device and system. Background technique [0002] Sliding mode control has the advantages of insensitivity to matching disturbances, simple structure, and small amount of computation. It is widely used in systems with uncertainties such as robots, aircraft, and electrical systems. The sliding mode control design consists of two steps: constructing the sliding mode surface and designing the control law. Among them, the construction form of the sliding mode surface is eclectic. According to the sliding mode surface form, there are mainly linear sliding mode control, terminal sliding mode control, and integral sliding mode control. The traditional linear sliding mode control can ensure the gradual convergence of the system state, and the theoretical convergence time is infinite; the terminal slidin...

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Problems solved by technology

[0003] Aiming at the slow convergence speed and chattering problems of the existing sliding mode control, the present invention proposes a non-linear platform sliding mode control method, device and system with fixed time convergence, and the present invention designs a general sliding mode based on the fixed time convergence subsystem Surface and control law, so that the system state converges to the equilibrium point within a fixed time, which can not only improve the convergence speed but also ensure the robustness of the system

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