信息与控制2016，Vol.45Issue(6)：660-665,6.DOI:10.13976/j.cnki.xk.2016.0660
一种基于自适应2阶终端滑模控制算法的理论和实验研究
Theoretical and Experimental Research of Adaptive Second-order Terminal Sliding-mode Controller
摘要
Abstract
Considering the control problem of a class of nonlinear multi-variable systems,we propose a new controller via the adaptive second-order terminal sliding-mode (ASOTSM) approach.Compared with the traditional sliding-mode control method,it retains the advantages of simple structure and strong robustness,and effectively weakens the chattering problem caused by the sliding-mode control.The closed-loop system stability is proved by Lyapunov-based analysis,which guarantees the stability and finite time convergence of the control error.Real-time attitude hovering and tracking experiments are performed on a three degree-of-freedom control experimental platform and the results validate the effective performance of the proposed control scheme.关键词
非线性控制/2阶终端滑模/自适应增益/有限时间收敛Key words
nonlinear control/second-order terminal sliding mode/adaptive gain/finite time convergence分类
信息技术与安全科学引用本文复制引用
黄健,鲜斌..一种基于自适应2阶终端滑模控制算法的理论和实验研究[J].信息与控制,2016,45(6):660-665,6.基金项目
天津市科技支撑计划重点项目(15ZCZDGX00810) （15ZCZDGX00810）
天津市应用基础与前沿技术研究计划重点项目(14JCZDJC31900) （14JCZDJC31900）
天津市科技计划项目(14RCHZGX00862) （14RCHZGX00862）
