頁籤選單縮合
題 名 | Second-Order Nonsingular Terminal Sliding Mode Decomposed Control of Uncertain Multivariable Systems |
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作 者 | Feng,Yong; Zheng,Xuemei; Yu,Xinghuo; | 書刊名 | Asian Journal of Control |
卷 期 | 5:4 2003.12[民92.12] |
頁 次 | 頁505-512 |
分類號 | 448.942 |
關鍵詞 | Multivariable systems; Canonical decomposition; Nonsingular terminal sliding mode control; Zero dynamics; |
語 文 | 英文(English) |
英文摘要 | This paper proposes a second-order nonsingular terminal sliding mode decomposed control method for multivariable linear systems with internal parameter uncertainties and external disturbances. First, the systems are converted into the block controllable form, consisting of an input-output subsystem and a stable internal dynamic subsystem. A special second-order nonsingular terminal sliding mode is proposed for the input-output subsystem. The control law is designed to drive the states of the input-output subsystem to converge to the equilibrium point asymptotically. Then the states of the stable zero-dynamics of the system converge to the equilibrium point asymptotically. The method proposed in the paper has advantages for higher-dimensional multivariable systems, in the sense that is simplifies the design and makes it possible to realize a robust decomposed control. Meanwhile, because of the adoption of the second-order sliding mode, the control signal is continuous. Simulation results are presented to validate the design. |
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