变结构控制系统抖振问题的研究
摘要
滑模变结构控制理论已经成为控制科学的一个重要分支体系。它以独特、优异的鲁棒性，对匹配不确定性、干扰的完全自适应性等特点一直吸引诸多学者的研究兴趣。然而，阻碍滑模变结构控制理论在实际工程中应用的是滑模控制器带来的抖振问题。滑模控制具有上述优点的代价，就是滑模控制器的非线性形式使得变结构系统的状态，输出等等都会产生一个高频抖振。许多实际控制器、执行机构无法实现高频切换，而且系统在稳态时有稳态误差，甚至高频振动会导致系统元件损坏等等不良后果。
本文主要针对滑模变结构控制系统，进行抖振消除问题的研究工作。对于各类非线性系统，结合模糊控制、自适应控制理论等其他方法，以及从滑模变结构控制理论本身出发，对滑模变结构控制系统的抖振问题进行了深入研究，并且在模糊自适应方法、连续滑模控制方法、积分滑模控制等方面得到了相应的结果。
第一，采用直接模糊自适应滑模控制，提出基于在线梯度自校正的直接模糊自适应方法。自适应模糊逻辑系统(Adaptive Fuzzy Logic Systems，AFLS)的参数通过梯度优化的方法来进行校正，使得AFLS对滑模控制律的逼近误差的积分和趋近于零，而高频抖振被AFLS的低通滤波特性消除。滤波效果更加明显，抖振问题得到了很大程度上的解决。针对一类高阶不确定非线性系统，提出一种基于自适应模糊逻辑系统的边界层死区参数自校正的近似滑模模糊控制，通过边界层的在线自适应，滑模控制的非线性部分更加平滑，消除了系统的抖振。对于不确定离散非线性系统，提出了一种可调边界层的模糊滑模控制，也取得了较好的结果。
第二，在Bartolini G.和Pydynowski P.提出的连续滑模控制方法之基础上，运用滑模控制微分信息，构造连续控制器，提出了更加简洁的带有二阶观测器的连续一阶、二阶滑模控制策略，使得在一定条件下，带有观测器的
11 摘 要
控制器中包含明显积分成分，滑模控制成为状态和时间连续函数。系统中的
抖振现象大大减小，振动幅值减小几个数量级。取得了较好的结果。
第三，基于Utkin Vadim等提出的积分滑模面的概念，提出了一种新的
积分型滑模面及其控制律综合方法，给出了新的积分滑模控制稳定定理，阐
述了比较系统的积分滑模控制律的设计方法，积分型滑模面的设计不再困难。
所提出的积分滑模控制方法能很好地抑制抖振的幅度。
本文还试图提出新的滑模变结构控制器的结构以提高滑模控制系统的性
能。在本文第六章中，提出了状态范数控制器。对状态范数方法进行了仿真
研究。
最后是本研究课题的总结和展望。
本文主要针对滑模变结构控制系统，进行抖振消除问题的研究工作。对于各类非线性系统，结合模糊控制、自适应控制理论等其他方法，以及从滑模变结构控制理论本身出发，对滑模变结构控制系统的抖振问题进行了深入研究，并且在模糊自适应方法、连续滑模控制方法、积分滑模控制等方面得到了相应的结果。
第一，采用直接模糊自适应滑模控制，提出基于在线梯度自校正的直接模糊自适应方法。自适应模糊逻辑系统(Adaptive Fuzzy Logic Systems，AFLS)的参数通过梯度优化的方法来进行校正，使得AFLS对滑模控制律的逼近误差的积分和趋近于零，而高频抖振被AFLS的低通滤波特性消除。滤波效果更加明显，抖振问题得到了很大程度上的解决。针对一类高阶不确定非线性系统，提出一种基于自适应模糊逻辑系统的边界层死区参数自校正的近似滑模模糊控制，通过边界层的在线自适应，滑模控制的非线性部分更加平滑，消除了系统的抖振。对于不确定离散非线性系统，提出了一种可调边界层的模糊滑模控制，也取得了较好的结果。
第二，在Bartolini G.和Pydynowski P.提出的连续滑模控制方法之基础上，运用滑模控制微分信息，构造连续控制器，提出了更加简洁的带有二阶观测器的连续一阶、二阶滑模控制策略，使得在一定条件下，带有观测器的
11 摘 要
控制器中包含明显积分成分，滑模控制成为状态和时间连续函数。系统中的
抖振现象大大减小，振动幅值减小几个数量级。取得了较好的结果。
第三，基于Utkin Vadim等提出的积分滑模面的概念，提出了一种新的
积分型滑模面及其控制律综合方法，给出了新的积分滑模控制稳定定理，阐
述了比较系统的积分滑模控制律的设计方法，积分型滑模面的设计不再困难。
所提出的积分滑模控制方法能很好地抑制抖振的幅度。
本文还试图提出新的滑模变结构控制器的结构以提高滑模控制系统的性
能。在本文第六章中，提出了状态范数控制器。对状态范数方法进行了仿真
研究。
最后是本研究课题的总结和展望。
引文
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