A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is p...A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control（CSMC）.展开更多
针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding ...针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding Mode Control,CFO-FONFTSMC),以提高高速列车速度控制的鲁棒性和控制精度.首先,建立高速列车纵向多质点动力学模型,设计高精度的补偿函数观测器对系统的总扰动进行实时估计并补偿;然后,设计一种带状态负指数控制律的分数阶非奇异快速终端滑模控制算法,用于对列车的运行曲线进行跟踪控制,并通过李雅普诺夫稳定性理论证明系统在有限时间内的收敛性;最后,以CRH3型高速列车参数和合肥站-蚌埠南站的实际线路为实例,分别跟踪理想运行曲线和节能优化运行曲线进行实验验证.仿真结果表明:所提算法跟踪理想运行速度曲线的平均误差为0.01377 km/h,跟踪带干扰的节能优化运行速度曲线的平均误差为0.0364 km/h,相较于基于扩张状态观测器的滑模和非奇异快速终端滑模控制方法,所提方法具有最小的跟踪误差和更高的跟踪精度,验证了其有效性和可行性,可为列车速度跟踪控制领域的研究提供参考.展开更多
基金supported by the National Natural Science Foundation of China(11502288)
文摘A decoupled nonsingular terminal sliding mode control（DNTSMC） approach is proposed to address the tracking control problem of affine nonlinear systems.A nonsingular terminal sliding mode control（NTSMC） method is presented,in which the nonsingular terminal sliding surface is defined as a special nonsingular terminal function and the convergence time of the system states can be specified.The affine nonlinear system is firstly decoupled into linear subsystems via feedback linearization.Then,a nonsingular terminal sliding surface is defined and the NTSMC method is applied to each subsystem separately to ensure the finite time convergence of the closed-loop system.The verification example is given to demonstrate the effectiveness and robustness of the proposed approach.The proposed approach exhibits a considerable advantage in terms of faster tracking error convergence and less chattering compared with the conventional sliding mode control（CSMC）.
文摘针对观测器估计精度偏低及高速列车系统的强耦合、受外界扰动、参数时变等问题,提出一种基于补偿函数观测器的分数阶非奇异快速终端滑模控制算法(Compensating Function Observer-Fractional Order Non-singular Fast Terminal Sliding Mode Control,CFO-FONFTSMC),以提高高速列车速度控制的鲁棒性和控制精度.首先,建立高速列车纵向多质点动力学模型,设计高精度的补偿函数观测器对系统的总扰动进行实时估计并补偿;然后,设计一种带状态负指数控制律的分数阶非奇异快速终端滑模控制算法,用于对列车的运行曲线进行跟踪控制,并通过李雅普诺夫稳定性理论证明系统在有限时间内的收敛性;最后,以CRH3型高速列车参数和合肥站-蚌埠南站的实际线路为实例,分别跟踪理想运行曲线和节能优化运行曲线进行实验验证.仿真结果表明:所提算法跟踪理想运行速度曲线的平均误差为0.01377 km/h,跟踪带干扰的节能优化运行速度曲线的平均误差为0.0364 km/h,相较于基于扩张状态观测器的滑模和非奇异快速终端滑模控制方法,所提方法具有最小的跟踪误差和更高的跟踪精度,验证了其有效性和可行性,可为列车速度跟踪控制领域的研究提供参考.
