Terminal sliding mode controller based on fractional calculus, and control method

A fractional-order calculus, terminal sliding mode technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as disturbance insensitivity, achieve small steady-state error, strong robustness, simple effect

Active Publication Date: 2016-11-09
XIAN UNIV OF TECH
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  • Abstract
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  • Claims
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Problems solved by technology

[0005] An object of the present invention is to provide a terminal sliding mode controller based on fractional calculus, which solves the problem of insensitivity of traditional sliding mode control and terminal sliding mode control to disturbances

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  • Terminal sliding mode controller based on fractional calculus, and control method
  • Terminal sliding mode controller based on fractional calculus, and control method
  • Terminal sliding mode controller based on fractional calculus, and control method

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Embodiment Construction

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, but the present invention is not limited to these embodiments.

[0034] The idea of ​​the terminal sliding mode controller based on fractional calculus of the present invention is to introduce fractional calculus into integer-order terminal sliding mode control. This method has the characteristics of fast convergence speed and high accuracy.

[0035] The controller as figure 1 As shown, its design method is:

[0036] Step 1: Choose Riemman-Liouville (R-L) to define fractional calculus, and its α-order fractional differential operator is defined as:

[0037] D t - α 0 f ( t ) = 1 Γ ( α ...

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Abstract

The invention discloses a terminal sliding mode controller based on fractional calculus, and a function form of the controller is shown in the description, wherein mu belongs to a section from zero to one (one is included), alpha is a positive constant greater than zero, beta is equal to q / p, and q and p are positive odd numbers and meet a relation: 0<q / p<1. The control method employing the terminal sliding mode controller comprises the steps: obtaining a state equation of a controlled object controlled by a fractional-order terminal sliding mode; bringing the state equation of the controlled object into a fractional-order terminal sliding mode control function, obtaining the terminal sliding mode control function of the controlled object, and controlling a system through the function. The controller is used for the control of the system, is short in response time, is strong in anti-interference capability, and is smaller in steady state error.

Description

technical field [0001] The invention belongs to the technical field of automatic control, and in particular relates to a terminal sliding mode controller based on fractional calculus, and also relates to a control method using the controller. Background technique [0002] The order of fractional calculus (FOC) can be arbitrary, which extends the descriptive ability of integral calculus. The traditional integral calculus is a special case of fractional calculus in specific circumstances, and the development of fractional calculus is a hot research topic nowadays. [0003] Sliding mode control (Sliding mode control, SMC) is also called sliding mode variable structure control. It is an effective robust control strategy proposed in the 1950s. It is mostly used in nonlinear control. Its basic idea is based on the The sliding mode surface of the system is designed according to the desired dynamic characteristics, with the function of switching control rules, so that the state tra...

Claims

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Application Information

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IPC IPC(8): G05B13/04H02M1/00
CPCH02M1/00G05B13/042H02M1/0012
Inventor 杨宁宁吴朝俊韩宇超贾嵘徐诚
Owner XIAN UNIV OF TECH
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