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首页> 外文期刊>Systems and Control Letters >An adaptive smooth second-order sliding mode repetitive control method with application to a fast periodic stamping system
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An adaptive smooth second-order sliding mode repetitive control method with application to a fast periodic stamping system

机译：一种自适应平滑的二阶滑动模式重复控制方法，应用于快速定期冲压系统

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摘要

This paper proposes an adaptive smooth second-order sliding mode repetitive control method for a class of non-linear systems with unknown disturbances and uncertainties. The key point is that the control law combines the advantages of adaptive second-order sliding mode control with the benefits of repetitive control. When both periodic and aperiodic disturbances exist in the system, the proposed method forces the sliding mode into a smaller pre-specified region in finite time, and when only periodic disturbance exists, the proposed method forces the sliding mode to converge to zero. Compared with pure sliding mode control, the proposed method is especially suitable for systems with sudden periodic load disturbances, for example from periodic impacts. Pure sliding mode control needs to adjust at each impact. Repetitive control knows each impact is coming and learns how to handle it, while sliding mode control can be dedicated to addressing aperiodic disturbances. This can result in smaller error levels. The stability of the proposed method is proved based on a Lyapunov approach. The performance is evaluated on a hydraulic press system via simulations. (c) 2021 Elsevier B.V. All rights reserved.
机译：针对一类具有未知扰动和不确定性的非线性系统，提出了一种自适应平滑二阶滑模重复控制方法。关键在于，该控制律结合了自适应二阶滑模控制的优点和重复控制的优点。当系统中同时存在周期性和非周期性干扰时，该方法将滑模在有限时间内强制进入一个较小的预先指定的区域，当系统中只存在周期性干扰时，该方法将滑模强制收敛到零。与纯滑模控制相比，该方法特别适用于具有突发周期性负载扰动的系统，例如来自周期性冲击的系统。纯滑模控制需要在每次碰撞时进行调整。重复控制知道每一次冲击的到来，并学习如何处理它，而滑模控制可以专门用于解决非周期性干扰。这可能会导致较小的错误级别。基于Lyapunov方法证明了该方法的稳定性。在液压机系统上通过仿真对其性能进行了评估。（c）2021爱思唯尔B.V.保留所有权利。

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