非奇异终端滑模控制(Nonsingular Terminal Sliding Mode Contral,NTSM)
在终端滑膜控制中,最后的部分我们抛出了奇异性的问题,所以在此基础上,我们提出非奇异终端滑膜控制,非奇异终端滑膜控制主要解决了终端滑模控制中的奇异性问题。
非奇异终端滑模的滑模面
s = x 1 + 1 β x 2 p q s = x_1 + \frac{1}{\beta}x_2^{\frac {p} {q}} s=x1+β1x2qp
其中, β > 0 \beta>0 β>0, p , q > 0 , ( p > q ) p,q>0,(p>q) p,q>0,(p>q) 为正奇数,且 1 < p q < 2 1 < \frac{p}{q} < 2 1<qp<2。
控制器设计
考虑二阶不确定非线性系统
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\begin{cases} \dot x_1 = x_2 \\ \dot x_2 = f(x) + g(x)u + d(x) \end{cases}
{x˙1=x2x˙2=f(x)+g(x)u+d(x)
其中
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x = [x_1,x_2] ^ {T}
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d(x) 代表不确定的外部干扰,且有
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d(x)≤D,即干扰有上界
对于二阶系统我们可以将滑膜面设计为
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s = x_1 + \frac{1}{\beta} x_2 ^ {\frac {p} {q}}
s=x1+β1x2qp
非奇异滑膜控制器设计为
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u = -g^{-1}(x)(f(x)+\beta \frac{q}{p} x_2^{2 - \frac {p} {q}} + (D+\varepsilon)sgn(x))
u=−g−1(x)(f(x)+βpqx22−qp+(D+ε)sgn(x))
稳定性分析,设李雅普诺夫函数
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V = \frac {1} {2} s^2
V=21s2,所以有
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\dot V = s \dot s
V˙=ss˙,将
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\begin{align} \dot V &= s(\dot x_1 + \beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1}{\dot x_2}) \\ &= s(x_2 + \beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1}(f(x) + g(x)u + d(x))) \\ &= s(x_2 + \beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1}(f(x) + g(x)(-g^{-1}(x)(f(x)+\beta \frac{p}{q} x_2^{2 - \frac {p} {q}} + (D+\varepsilon)sgn(x))) + d(x))) \\ &= s(x_2 + \beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1}(f(x) - (f(x)+\beta \frac{q}{p} x_2^{\frac {p} {q}} + (D+\varepsilon)sgn(x)) + d(x))) \\ &= s(x_2 + \beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1}(- \beta \frac{q}{p} x_2^{2-\frac {p} {q}} - (D+\varepsilon)sgn(x) + d(x))) \\ &= s(\beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1}(- (D+\varepsilon)sgn(x) + d(x)) \\ &= \beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1}(- (D+\varepsilon)|s| + sd(x)) \\ &\le \beta^{-1} \frac {p} {q} x_2^{\frac {p} {q} - 1} (-\varepsilon |s|) \\ \end{align}
V˙=s(x˙1+β−1qpx2qp−1x˙2)=s(x2+β−1qpx2qp−1(f(x)+g(x)u+d(x)))=s(x2+β−1qpx2qp−1(f(x)+g(x)(−g−1(x)(f(x)+βqpx22−qp+(D+ε)sgn(x)))+d(x)))=s(x2+β−1qpx2qp−1(f(x)−(f(x)+βpqx2qp+(D+ε)sgn(x))+d(x)))=s(x2+β−1qpx2qp−1(−βpqx22−qp−(D+ε)sgn(x)+d(x)))=s(β−1qpx2qp−1(−(D+ε)sgn(x)+d(x))=β−1qpx2qp−1(−(D+ε)∣s∣+sd(x))≤β−1qpx2qp−1(−ε∣s∣)
根据上述分析可知
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x2=0 时,满足李雅普诺夫稳定条件。接下来需要分析的就是在之前的奇异点的问题,我们发现,将控制量带入到系统模型方程可得
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\dot x_2 = -\beta \frac{q}{p}x_2^{2-\frac{p}{q}} + d(x) - (D+\varepsilon)sgn(s)
x˙2=−βpqx22−qp+d(x)−(D+ε)sgn(s)
当
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\dot x_2 = d(x) - (D+\varepsilon)sgn(s)
x˙2=d(x)−(D+ε)sgn(s)
分析可知,此时当
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s>0 则
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s<0 则
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收敛速度问题
该方法解决了奇异性问题,但是收敛速度问题并没有解决,在接近滑模面时的收敛速度仍然较慢。所以在此基础上提出了非奇异快速终端滑膜控制