基于趋近律的离散滑模位置跟踪控制

针对不确定对象的主要特点,运用离散滑模变结构理论探索不确定对象的位置跟踪问题。设计了一种离散趋近率滑模位置跟踪算法,推导了滑模控制的可达性条件。该算法以离散位置信号作为输入,设计了离散指数趋近率,根据系统当前的状态,有目的地调整控制器,采用离散Kalman滤波器对干扰和噪声进行滤波。经仿真研究,该算法不仅在无扰动无噪声条件下,能够准确的进行位置跟踪,而且在扰动和噪声时,具有较强的鲁棒性和抗干扰性,较好地满足了位置跟踪控制的要求。

Tracking Control of Discrete Sliding Mode Position Based on Reaching Law

Considering the main characteristic of uncertain object, this paper uses discrete sliding mode theory to explore the position tracking of uncertain object. It designs a discrete sliding mode position tracking algorithm, and deducts the accessibility condition of sliding mode control. This algorithm takes discrete position signal as input, designs the discrete index reaching law and adjusts controller according to the current condition of system. It uses discrete Kalman filter to filter disturbance and noise. Simulation shows that this algorithm can track position rightly without disturbance and noise, and has strong robustness and immunity under disturbance and noise. It satisfies the needs of position tracking well.