| 摘要: |
| This paper presents an optimization method of designing the integral sliding mode (ISM) based composite nonlinear feedback (CNF) controller for a class of low order linear systems with input saturation. The optimal CNF control is first designed as a nominal control to yield high tracking speed and low overshoot. The selection of all the tuning parameters for the CNF control law is turned into a minimization problem and solved automatically by particle swarm optimization (PSO) algorithm. Subsequently, the discontinuous control law is introduced to reject matched disturbances. Then, the optimal ISM-CNF control law is achieved as the sum of the optimal CNF control law and the discontinuous control law. The effectiveness of the optimal ISM-CNF controller is verified by comparing with a step by step designed one. High tracking performance is achieved by applying the optimal ISM-CNF controller to the tracking control of the micromirror. |
| 关键词: Composite nonlinear feedback Integral sliding mode Input saturation PSO Micromirror |
| DOI： |
| Received:February 21, 2014Revised:March 28, 2014 |
| 基金项目: |
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| Integral sliding mode based optimal composite nonlinear feedback control for a class of systems |
| Z. Zheng,W. Sun,H. Chen,J. T. W. Yeow |
| (College of Automation Science and Engineering, South China University of Technology) |
| Abstract: |
| This paper presents an optimization method of designing the integral sliding mode (ISM) based composite nonlinear feedback (CNF) controller for a class of low order linear systems with input saturation. The optimal CNF control is first designed as a nominal control to yield high tracking speed and low overshoot. The selection of all the tuning parameters for the CNF control law is turned into a minimization problem and solved automatically by particle swarm optimization (PSO) algorithm. Subsequently, the discontinuous control law is introduced to reject matched disturbances. Then, the optimal ISM-CNF control law is achieved as the sum of the optimal CNF control law and the discontinuous control law. The effectiveness of the optimal ISM-CNF controller is verified by comparing with a step by step designed one. High tracking performance is achieved by applying the optimal ISM-CNF controller to the tracking control of the micromirror. |
| Key words: Composite nonlinear feedback Integral sliding mode Input saturation PSO Micromirror |
