吉林大学学报（信息科学版）2023，Vol.41Issue(6)：976-982,7.
基于三步法的板球系统滑模控制器研究
Research on Sliding Mode Controller for Ball and Plate System Based on Three-Step Method
摘要
Abstract
In order to solve the chattering phenomenon in sliding mode control of nonlinear the ball and plate system and the multi-disturbance problem in trajectory tracking,we studied a sliding mode control scheme based on a three-step method.Firstly,establish the ball and plate system state-space model,and design the sliding mode control law to overcome the uncertain disturbance of the system.Secondly,combining the three-step control law with the sliding mode control algorithm,design a three-step sliding mode controller to avoid the chattering phenomenon in the sliding mode control.Finally,prove the closed-loop control system stability by Lyapunov function.Compared with the simulation results,this method's trajectory tracking control effectiveness is further verified.关键词
板球系统/三步法/滑模控制/轨迹跟踪Key words
ball and plate system/three-step method/sliding mode control/trajectory tracking分类
信息技术与安全科学引用本文复制引用
韩光信,孟圣钧,胡云峰..基于三步法的板球系统滑模控制器研究[J].吉林大学学报（信息科学版）,2023,41(6):976-982,7.基金项目
国家自然科学基金青年基金资助项目(61703177) （61703177）
