طراحی کنترل زمان‌ثابت تطبیقی برای کلاسی از سیستم‌های غیرخطی مرتبه دوم با استفاده از رویکرد کنترل مود لغزشی

نوع مقاله : علمی-پژوهشی

نویسندگان

دانشکده مهندسی برق- دانشگاه علم و صنعت ایران

چکیده

در این مقاله، به مسئله کنترل زمان ثابت برای کلاسی از سیستم‌های غیرخطی مرتبه دوم در حضور عدم‌قطعیت و اغتشاشات خارجی پرداخته می‌شود. با معرفی رویکردی نوین از کنترل مود لغزشی پایانی ناتکین، یک کنترل‌کننده‌ی زمان‌ثابت به‌منظور دستیابی به عملکرد قابل‌قبول، همگرایی سریع متغیرهای حالت، قوام بالا و حذف تکینگی طراحی می‌شود. تضمین همگرایی زمان‌ثابت، ویژگی مهم قانون کنترل پیشنهادی می‌باشد که در آن زمان همگرایی مستقل از شرایط اولیه سیستم می‌باشد. از آنجایی که در کاربردهای عملی، تعیین حد بالای عدم قطعیت و اغتشاش دشوار است، قانون تطبیقی ارائه می‌شود که به کمک آن دیگر نیازی به دانستن این حد نیست. با استفاده از تحلیل لیاپانوف اثبات می‌گردد که متغیرهای حالت سیستم در یک زمان محدود و مستقل از شرایط اولیه به همسایگی کوچکی از مبدأ همگرا می‌شوند.  به‌منظور ارزیابی کارآمدی روش پیشنهادی، سیستم کنترل وضعیت یک ماهواره انعطاف‌پذیر به‌کار گرفته شده و قانون کنترل وضعیت زمان‌ثابتی برای آن استخراج می‌گردد. نتایج شبیه‌سازی کارایی و عملکرد رویکرد ارائه‌شده در این مقاله را نشان می‌دهند.

کلیدواژه‌ها

عنوان مقاله [English]

Design of an adaptive fixed-time control for a class of second-order nonlinear systems using sliding mode control

نویسندگان [English]

  • S. M. Esmaeilzadeh
  • M. Golestani
Department of Electrical Engineering, Iran University of Science and Technology, Tehran, Iran,
چکیده [English]

This paper addresses the problem of fixed-time control for a class of second-order nonlinear systems in the presence of model uncertainty and external disturbance. By introducing a novel form of non-singular terminal sliding mode control, a fixed-time control is designed to obtain acceptable performance, rapid convergence of the system states, high robustness and singularity elimination. Guaranteeing fixed-time convergence is a significant feature of the proposed control law under which the convergence time of the proposed surface is independent of the initial conditions. Since the upper bound of the system uncertainty and disturbance is quite difficult to obtain, an adaptive mechanism is presented under which there is no need to know this upper bound. Lyapunov analysis proves that the system states converge to small neighborhood of the origin within a fixed time. To assess efficiency of the suggested method, a flexible spacecraft attitude control system is considered and a fixed-time attitude control system is derived. Simulation results verify the effectiveness and performance of the presented approach.

کلیدواژه‌ها [English]

  • Second-order nonlinear system
  • flexible satellite
  • attitude control
  • fixed-time convergence
  • sliding mode control

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