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首页> 外文期刊>Automatic Control, IEEE Transactions on >Multi-Input Sliding Mode Control of Nonlinear Uncertain Non-Affine Systems With Mono-Directional Actuation
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Multi-Input Sliding Mode Control of Nonlinear Uncertain Non-Affine Systems With Mono-Directional Actuation

机译：非线性不确定单仿射系统的多输入滑模控制

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摘要

In this paper the multi-input Sliding Mode control of nonlinear uncertain non-affine systems with mono-directional actuators is considered. The geometric properties of the regular simplices of vectors are exploited by the mono-directional actuation system. The proposed full-state feedback control method introduces integrators in the input channel and suitably modifies the sliding output to be steered to zero. The resulting high frequency gain matrix (HFGM), which is the matrix multiplying the control vector, turns out to be affected by time and state dependent uncertainties. An effective use of the integral Sliding Mode method in connection with a non-conventional simplex based switching logic is introduced. The proposed simplex control procedure is adequately designed to avoid any possible unbounded increment of the control actions despite the presence of integrators in the input channel and the exploitation of mono-directional devices.
机译：本文考虑了具有单向执行器的非线性不确定非仿射系统的多输入滑模控制。向量的规则单纯形的几何性质被单向驱动系统所利用。所提出的全状态反馈控制方法在输入通道中引入了积分器，并适当地将滑动输出修改为转向为零。所得的高频增益矩阵（HFGM）是乘以控制向量的矩阵，结果受到时间和状态相关不确定性的影响。结合结合基于非传统单纯形的开关逻辑，介绍了积分滑模模式的有效使用。尽管输入通道中存在积分器并采用了单向设备，但所提出的单纯形控制程序经过适当设计，可以避免控制动作的任何可能的无限制增量。

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