| Recently, the nonlinear system has been a priority and hot spot of the research of control theory. The thesis gives a summary introduction to nonlinear cascade systems and finite-time convergence of nonlinear control systems. A concise summary is given for definition and designing steps of finite-time convergence and terminal sliding mode variable structure. Exponential tracking control and finite-time convergence problem of a rotating rigid body and induction motor model consist the main theme of the thesis. The research results can be divided into two parts:Part1. Exponential tracking controller and finite-time tracking controller design for a rotating rigid bodyA cascade system is a special nonlinear system,which contains two subsystems. Based on the rigid body, the thesis designs control law in order to render the tracking error converging to zero quickly, using the cascade method and index tracking control system theory. The paper changes the initial system into cascade structure using a cascaded system approach and finite-time controller, then the connecting term satisfies some conditions. The proposed controller ensures the global bounded of the system and the outputs asymptotically tracking the reference signals. The simulation validates the efficiency of the control scheme.Part2. Finite-time tracking controller design for inductor motor model based on TSMBased on the inductor motor model, the paper switch the control law to the terminal sliding mode controller, which makes the system reaching equilibrium in finite time. Finite time convergence controller is a kind of fast control mechanism. When the system realizes finite time convergence, its performance index achieves the optimal. Finite time tracking controller not only ensures that the locus of the all the controlled system reach to the equilibrium point in finite time, but also ensures that the system can accurately track the given reference signal. The simulation validates the efficiency of the control scheme. |
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