Xiao Lingfei, Zhu Yue
Jiangsu Province Key Laboratory of Aerospace Power Systems, College of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China.
College of Engineering, Nanjing Agricultural University, Nanjing, China.
ISA Trans. 2014 Jul;53(4):1061-72. doi: 10.1016/j.isatra.2014.04.001. Epub 2014 May 1.
For a class of systems who suffers from disturbances, an original output feedback sliding mode control method is presented based on a novel tracking error observer with disturbance estimator. The mathematical models of the systems are not required to be with high accuracy, and the disturbances can be vanishing or nonvanishing, while the bounds of disturbances are unknown. By constructing a differential sliding surface and employing reaching law approach, a sliding mode controller is obtained. On the basis of an extended disturbance estimator, a creative tracking error observer is produced. By using the observation of tracking error and the estimation of disturbance, the sliding mode controller is implementable. It is proved that the disturbance estimation error and tracking observation error are bounded, the sliding surface is reachable and the closed-loop system is robustly stable. The simulations on a servomotor positioning system and a five-degree-of-freedom active magnetic bearings system verify the effect of the proposed method.
针对一类受干扰影响的系统，基于一种带有干扰估计器的新型跟踪误差观测器，提出了一种原始输出反馈滑模控制方法。该系统的数学模型不要求具有高精度，干扰可以是消失的或非消失的，同时干扰的界限未知。通过构造一个微分滑模面并采用趋近律方法，得到了一个滑模控制器。基于扩展干扰估计器，产生了一种创新的跟踪误差观测器。利用跟踪误差的观测和干扰的估计，实现了滑模控制器。证明了干扰估计误差和跟踪观测误差是有界的，滑模面是可达的，闭环系统是鲁棒稳定的。在伺服电机定位系统和五自由度主动磁轴承系统上的仿真验证了所提方法的效果。
