论文部分内容阅读
研究了一类带有控制时滞的不确定性系统的滑模变结构控制器的设计问题。定义特殊线性变换,将原不确定时滞系统化为无时滞系统。在新坐标下,提出了基于二次型性能指标的最优滑模面的设计方法;选择适当的动态不连续控制律保证了系统状态在有限时间到达滑模面,并有效的削弱了抖振。提出并证明了原系统渐近稳定的充分条件。将该控制方法应用到典型的不确定时滞对象——聚合反应釜的温度控制系统中,仿真结果表明了该方法的有效性。
The design of a sliding mode variable structure controller for a class of uncertain systems with control delay is studied. A special linear transformation is defined to systematize the original undetermined delay into a time-delay system. Under the new coordinates, the design method of the optimal sliding mode surface based on quadratic performance index is proposed. Choosing an appropriate dynamic discontinuous control law ensures that the system state reaches the sliding mode surface in a finite time and effectively dampens the chattering . The sufficient and sufficient conditions for the asymptotic stability of the original system are proposed and proved. The control method is applied to the typical temperature control system of polymerization reactor with uncertain time lag. The simulation results show the effectiveness of the method.