Memory proportional-integral-retarded output sliding mode controller design

被引：0
|
作者：
Li X.-K. [1 ]
Xu J. [1 ]
Niu Y.-G. [1 ]
机构：
[1] Key Laboratory of Energy and Chemical Process Intelligent Manufacturing, Ministry of Education, East China University of Science and Technology, Shanghai
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 12期
基金：
中国国家自然科学基金;
关键词：
frequency-domain analysis; PIR sliding mode surface; robustness; sliding mode control; time delay;
D O I：
10.7641/CTA.2022.10605
中图分类号：
学科分类号：
摘要：
The traditional proportional-integral-differential (PID) sliding mode control has defects of high frequency noise robustness and complex parameter tuning methods. For the above problems, this paper designs a proportional-integral-retarded (PIR) sliding mode controller based on an output feedback, and gives the self-tuning method of controller parameters based on the frequency-domain analysis. On the controller type selection, introducing the “memory” output feedback mechanism into sliding mode surface, and the historical output term is used to improve the smooth filtering and high-frequency noise suppression ability of the sliding mode surface. Firstly, designing an equivalent control law based on the PIR sliding mode surface, to realize the sliding mode stability of the closed-loop system under the output feedback. Secondly, the finite-time reachability of the PIR sliding modes surface based on the output feedback is analyzed to ensure that the system maintains good robustness in the presence of matching perturbations. Finally, in terms of controller parameter tuning, online self-tuning of the PIR parameter is realized by eliminating the effects of the delay term in the closed-loop characteristic equation and poles the system based on the decay rate. Simulation results show that the tuning method ensures good robustness and interference resistance of the closed-loop system. © 2022 South China University of Technology. All rights reserved.
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页码：2254 / 2261
页数：7
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