Das Madhulika, Mahanta Chitralekha
Department of Electronics and Electrical Engineering, Indian Institute of Technology Guwahati, Guwahati 781039, India.
ISA Trans. 2014 Nov;53(6):1807-15. doi: 10.1016/j.isatra.2014.08.010. Epub 2014 Sep 22.
In this paper an optimal second order sliding mode controller (OSOSMC) is proposed to track a linear uncertain system. The optimal controller based on the linear quadratic regulator method is designed for the nominal system. An integral sliding mode controller is combined with the optimal controller to ensure robustness of the linear system which is affected by parametric uncertainties and external disturbances. To achieve finite time convergence of the sliding mode, a nonsingular terminal sliding surface is added with the integral sliding surface giving rise to a second order sliding mode controller. The main advantage of the proposed OSOSMC is that the control input is substantially reduced and it becomes chattering free. Simulation results confirm superiority of the proposed OSOSMC over some existing.
本文提出了一种最优二阶滑模控制器（OSOSMC）来跟踪线性不确定系统。基于线性二次调节器方法为标称系统设计了最优控制器。将积分滑模控制器与最优控制器相结合，以确保受参数不确定性和外部干扰影响的线性系统的鲁棒性。为了实现滑模的有限时间收敛，在积分滑模面上添加了一个非奇异终端滑模面，从而产生了一个二阶滑模控制器。所提出的OSOSMC的主要优点是大幅减少了控制输入，并且消除了抖振。仿真结果证实了所提出的OSOSMC优于一些现有方法。
