带有指令滤波的板球系统反步滑模控制的研究

doi:10.16039/j.cnki.cn22-1249.2022.07.008

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摘要

为解决滑模控制中出现的抖振现象影响板球系统轨迹跟踪控制性能的问题，提出了一种结合指令滤波的板球系统反步滑模控制方法。首先建立板球系统数学模型，根据系统误差方程设计总滑模控制规律。然后组建带有指令滤波的复合系统，设计误差反步控制器。最后利用Lyapunov理论证明了整个闭环系统的全局渐进稳定性。仿真结果表明，该方法有效的抑制抖振现象，进一步加强了抗干扰能力。

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	孟圣钧
	韩光信
	白淏文
	路莹昕

关键词: 板球系统指令滤波滑模控制误差反步控制轨迹跟踪

Abstract:

In order to solve the problem that the chattering phenomenon in sliding mode control affects the trajectory tracking control performance of the ball and plate system, backstepping sliding mode control method combined with a command filter is proposed. Firstly, the mathematical model of the ball and plate system is established, and the general sliding mode control law is designed according to the system error equation. Secondly, a compound system with command filter is constructed and an error backstepping controller is designed. Finally, the global asymptotic stability of the whole closed-loop system is proved by Lyapunov theory. The simulation results show that this method can effectively suppress the chattering phenomenon and further strengthen the disturbance-rejection performance.

Key words: ball and plate system command filter sliding mode control error backstepping control trajectory tracking

出版日期: 2022-07-25 发布日期: 2022-07-25 整期出版日期: 2022-07-25

ZTFLH:

TP273

引用本文:

孟圣钧, 韩光信, 白淏文, 路莹昕. 带有指令滤波的板球系统反步滑模控制的研究 [J]. 吉林化工学院学报, 2022, 39(7): 42-48.
MENG Shengjun, HAN Guangxin, BAI Haowen, Lu Yingxin. Research on Backstepping Sliding Mode Control for Ball and Plate System with Command Filter . Journal of Jilin Institute of Chemical Technology, 2022, 39(7): 42-48.

链接本文:

http://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2022.07.008 或 http://xuebao.jlict.edu.cn/CN/Y2022/V39/I7/42

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[2]	孟圣钧, 韩光信, 白淏文. 基于扩张状态观测器的板球系统误差反步控制 [J]. 吉林化工学院学报, 2022, 39(3): 70-77.
[3]	田统, 杨瑶, 韩光信. 基于三步法的磁悬浮球系统控制研究 [J]. 吉林化工学院学报, 2022, 39(1): 58-62.
[4]	韩光信, 孟圣钧, 万云波. 基于反步法的板球系统自抗扰控制器设计 [J]. 吉林化工学院学报, 2021, 38(9): 13-20.
[5]	高兴泉, 丁三毛, 黄东冬, 刘志成, 肖新宇. 一种轮式移动机器人滑模轨迹跟踪控制器设计及其参数优化方法 [J]. 吉林化工学院学报, 2021, 38(1): 47-51.
[6]	孟圣钧, 韩光信. 带有低通滤波的板球系统反演控制器设计 [J]. 吉林化工学院学报, 2020, 37(9): 40-45.
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