| 引用本文: | 杨雅君,廖瑛,尹大伟,郑宇昕.双层自适应快速super twisting控制算法[J].控制理论与应用,2016,33(8):1119~1127.[点击复制] |
| YANG Ya-jun,LIAO Ying,Yin Da-wei,ZHENG Yu-xin.Adaptive dual layer fast super twisting control algorithm[J].Control Theory and Technology,2016,33(8):1119~1127.[点击复制] |
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| 双层自适应快速super twisting控制算法 |
| Adaptive dual layer fast super twisting control algorithm |
| 摘要点击 3949 全文点击 1560 投稿时间：2015-11-10 修订日期：2016-08-19 |
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| DOI编号 10.7641/CTA.2016.50889 |
| 2016,33(8):1119-1127 |
| 中文关键词 super twisting算法 收敛性 等效控制 自适应控制 滑模控制 观测器 |
| 英文关键词 super twisting algorithm convergence equivalent control adaptive control sliding mode control observers |
| 基金项目 航天科技创新基金项目(CASC201502)资助. |
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| 中文摘要 |
| 为提高super twising算法的收敛速度, 解决现有算法存在的增益过估计问题, 提出了两种自适应增益快速
super twisting算法. 分别通过快速终端滑模趋近律和增加线性项加快收敛速度. 利用基于等效控制的双层自适应律
调节增益, 保证滑模存在条件的成立, 同时使增益尽量的小. 采用Lyapunov方法证明了新算法具有更优良的收敛特
性, 根据有界实引理和Schur补定理分别给出了两种算法的参数整定策略. 仿真算例表明, 在相同控制参数下, 新算
法的能耗与原算法接近, 并具有更快的收敛速度和更强的鲁棒性. |
| 英文摘要 |
| Two modified super twisting algorithms with adaptive gains are proposed for improving the convergence rate
and averting the overestimation of gains which is often occur in present algorithm. One proposed algorithm is obtained
by adding an additional linear term, and another algorithm is modified by using the fast terminal slide mode trending law.
All variable gains in proposed algorithms are adaptively adjusted by using the dual layer adaptation schema which has
exploited the concept of equivalent control; therefore, the gains are adjusted as small as possible. The proposed algorithms
and dual layer adaptation are formally analyzed by using the Lyapunov methods to prove that the convergence properties are
improved. The parameters setting strategies are proposed base on the bounded-real lemma and Schur complement lemma
for both algorithms, respectively. Simulation results show that the convergence rate and robustness of proposed algorithms
are superior to the original one when the total energy consumption is practically unchanged. |