基于多模态滑模的快速非奇异终端滑模控制

根据多模态滑模概念,提出了一种快速非奇异终端滑模控制方法(FNTSM,Fast Nonsingular Terminal Sliding Mode),实现了非奇异终端滑模控制的全局快速收敛.多模态滑模通过设计分段切换函数,实现多个滑动模态.FNTSM的切换函数由线性滑模的切换函数和非奇异终端滑模的切换函数连接而成.当系统状态远离平衡点时,系统运行于线性滑动模态;当系统状态靠近平衡点时,系统运行于非奇异终端滑动模态.设计了切换型控制律,保证了系统的到达时间和滑动时间都是有限的.数值仿真表明:FNTSM控制与非奇异终端滑模控制、线性滑模控制相比具有快速性优点.

Fast nonsingular terminal sliding mode control based on multi-slide-mode

A fast nonsingular terminal sliding mode (FNTSM) control is proposed to realize the global fast convergence of nonsingular terminal sliding mode control based on the concept of multi-slide-mode(MSM). The MSM has several sliding modes by designing piecewise switching function. According to the concept of MSM,the switching function of FNTSM is connected by the switching function of linear sliding mode and nonsingular terminal sliding mode. If the system state is far away from the equilibrium,the system runs on linear sliding mode. If the system state is near to the equilibrium,the system runs on nonsingular terminal sliding mode. A switching control law is designed to guarantee the reaching time and sliding time are finite. The simulation show the FNTSM control is faster than nonsingular terminal sliding mode control and linear sliding mode control.