外扰已知时滞不确定系统自适应滑模控制

吉林大学学报(工学版) ›› 2011, Vol. 41 ›› Issue (增刊1): 249-253.

外扰已知时滞不确定系统自适应滑模控制

李玮¹, 段建民¹, 龚建伟²

1. 北京工业大学电子信息与控制工程学院, 北京 100124;
2. 北京理工大学智能车辆研究所, 北京 100081

收稿日期:2011-03-14 出版日期:2011-09-01 发布日期:2011-09-01
作者简介:李玮((1982 ),男,博士研究生.研究方向:智能车辆网络智能控制及车载电子技术.E-mail:liwei727@126.com.
基金资助:
国家自然科学基金重点项目(90920304);北京市教委重点项目(JJ002790200802);先进制造技术北京市重点实验室开放项目(0010005466015)

Adaptive sliding mode control for uncertain systems with state time-delay and known external disturbances

LI Wei¹, DUAN Jian-min¹, GONG Jian-wei²

1. College of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China;
2. Intelligent Vehicle Research Center, Beijing Institute of Technology, Beijing 100081, China

Received:2011-03-14 Online:2011-09-01 Published:2011-09-01

摘要/Abstract

摘要：

针对一类外部扰动已知、具有匹配不确定性和状态时滞的多输入、多输出线性系统,基于线性矩阵不等式理论提出了一种自适应滑模控制方法。首先利用线性矩阵不等式求解得到滑动模态存在的充分条件,使系统在滑动模态下对于匹配不确定性扰动和状态时滞具有完全不变性;然后引入Sigmoid函数,并根据Lyapunov稳定性理论设计了自适应滑模控制器,使sigmoid函数的边界层厚度以及切换增益可根据系统状态进行自适应调节,削弱了控制器输出的抖振现象,并基于Lyapunov理论证明了该控制方法的稳定性。最后以智能车辆车道线保持控制为例验证了该方法的可行性及有效性。

关键词: 自动控制技术, 状态时滞, 不确定系统, 线性矩阵不等式, 自适应, 滑模控制

Abstract:

For a class of matched uncertain MIMO linear systems with state time-delay and the known external disturbances,an adaptive sliding mode control method was proposed based on the linear matrix inequality theory.A sufficient condition for the existence of linear sliding surface was given in terms of linear matrix inequality.When into the sliding mode,system was restricted to the sliding surface and completely invariant to matched uncertainties and state time-delay.For controller output chattering case,the sigmoid function instead of sign function was introduced and an adaptive sliding mode controller was further designed.Under the adaptive laws,boundary layer and switching gain of the sigmoid function can be adjusted adaptively,which can reduce the high frequency chattering of outputs.The stability of this control method based on Lyapunov theory was proved.Finally,the simulation results of an example which about the intelligent vehicle's lane keeping was investigated to show the feasibility and effectiveness of this control method.

Key words: automatic control technology, state time delay, uncertain system, linear matrix inequality, adaptive, sliding mode control

中图分类号:

TP273

李玮, 段建民, 龚建伟. 外扰已知时滞不确定系统自适应滑模控制[J]. 吉林大学学报(工学版), 2011, 41(增刊1): 249-253.

LI Wei, DUAN Jian-min, GONG Jian-wei. Adaptive sliding mode control for uncertain systems with state time-delay and known external disturbances[J]. 吉林大学学报(工学版), 2011, 41(增刊1): 249-253.

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