Sliding mode control method based on adaptive reaching law

被引：0

作者：

Li Y. ^{[1
]}

Liu L. ^{[1
]}

Hu Y. ^{[1
]}

Yan H. ^{[1
]}

机构：

[1] Department of Control Engineering, Naval Aviation University, Yantai, 264001, Shandong

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2019年 / 47卷 / 01期

关键词：

Adaptive reaching law; Hyperbolic tangent function; Interference stability boundary; Limit time convergence; Sliding mode control;

D O I：

10.13245/j.hust.190120

中图分类号：

学科分类号：

摘要：

A adaptive reaching law was proposed on the basis of exponential reaching law and variable speed reaching law, in order to improve dynamic quality and robustness of the system.When system state variable was far away from sliding mode surface, the exponential term played a major role, ensuring that the approach speed was high enough.When system state variable was closer to sliding mode surface, variable speed term played a major role.Sliding mode surface parameters were adjusted adaptively with system state variables until system state trajectory ran to the stable point.The reaching law had the characteristic of second-order sliding mode, which could reach the sliding surface in a limited time.When there was bounded external interference in the system, system state and its derivative could quickly converge to the neighborhood near the equilibrium point.Simulation results show that the proposed adaptive reaching law can effectively improve dynamic performance, steady-state accuracy and enhance robustness of the system. © 2019, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.

引用

页码：109 / 113

页数：4

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