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针对滑模控制中传统趋近律存在抖振、收敛速度慢的问题,提出一种基于特定双幂次趋近律的滑模控制方案.双幂次趋近律具有全局快速的固定时间收敛特性,收敛时间存在与滑模初值无关的上界.当系统存在有界集总扰动时,双幂次趋近律能使滑模及其一阶导数在有限时间收敛到稳态误差界内.仿真分析验证了所提出方法的有效性.
Aiming at the chattering and slow convergence of the traditional reaching law in sliding mode control, a sliding mode control scheme based on certain bivariate power reaching law is proposed. The bi-power reaching law has the global fast fixed time convergence property , The convergence time has nothing to do with the initial value of the sliding mode.When there exists bounded aggregate disturbance, the barycenter reaching law can make the sliding mode and its first derivative converge to the steady state error bound in finite time. Simulation analysis verifies the effectiveness of the proposed method.