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首页> 外文期刊>IEEE Transactions on Energy Conversion >Adaptive Predefined Performance Sliding Mode Control of Motor Driving Systems With Disturbances
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Adaptive Predefined Performance Sliding Mode Control of Motor Driving Systems With Disturbances

机译：具有干扰的电机驱动系统的自适应预定义性能滑模控制

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摘要

In this paper, a predefined time sliding mode control with prescribed performance is presented for dual-inertia driving systems with unknown disturbances. A modified prescribed performance function (PPF) without requiring the accurate initial error is designed to guarantee that the tracking error remains within the prescribed boundary. An adaptive law is then constructed to estimate the unknown upper boundary parameters of the lumped dynamics (e.g., parameter uncertainties and external disturbances), so that the prior knowledge of the upper bound of uncertainties is not required. The parameter estimation is incorporated into the control design to eliminate the effects of the unknown dynamics. Using the sliding mode technique, an adaptive predefined time sliding mode control is developed. The proposed control method can achieve fast convergence rate of the tracking error, and the stability of the closed-loop system is proved via the Lyapunov function method. Comparative experiments are carried out based on a dual-inertia driving system to validate the efficacy of the proposed approach.
机译：本文介绍了具有规定性能的预定时间滑模控制，用于具有未知干扰的双惯性驾驶系统。不需要精确的初始误差的修改规定的性能函数（PPF）旨​​在保证跟踪误差保留在规定的边界内。然后构建自适应定律以估计集总动力学（例如参数不确定性和外部干扰）的未知上边界参数，从而不需要先前了解不确定性的上限。参数估计结合到控制设计中以消除未知动力学的效果。使用滑模技术，开发了自适应预定义的时间滑模控制。所提出的控制方法可以实现跟踪误差的快速收敛速率，并通过Lyapunov函数方法证明闭环系统的稳定性。基于双惯性驱动系统进行比较实验，以验证所提出的方法的功效。

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