直线一级倒立摆的滑模变结构控制程序

基于比例切换控制的滑模控制直线一级倒立摆

>> clear all;

>> close all;

>> global C M0 F

>> ts=0.02;

>> T=30;

>> TimeSet=[0:ts:T];

>> para=[];

>> x4=xout(:,4);

>> s=C(1)*x1+C(2)*x2+C(3)*x3+C(4)*x4;

>> if F==1

M0=40;

u=-M0*sign(s);

elseif F==2

beta=30;

delta=0;

for k=1:1:T/ts+1

u(k)=-beta*(abs(x1(k))+abs(x2(k))+abs(x3(k))+abs(x4(k))+delta)*sign(s(k));

plot(t,x2,’r’);

xlabel(‘time(s)’);ylabel(‘Pendulum Angle’);

figure(3);

plot(t,s,’r’);

xlabel(‘time(s)’;ylabel(‘s’);

figure(4);

plot(t,u,’r’);

xlabel(‘time(s)’;ylabel(‘u’);

function dx=DxnamicModel(t,x,flag,para)

global C M0 F

0,0,0,1;

0,a32,0,0;

0,a42,0,0];

b=[0;0;b3;b4];

%Ackermann's formula

n1=-1;n2=-2;n3=-3;

C=[0,0,0,1]*inv([b,A*b,A^2*b,A^3*b])*(A-n1*eye(4))*(A-

n2*eye(4))*(A-n3*eye(4));

s=C*x;

F=2;

u=-beta*(abs(x(1))+abs(x(2))+abs(x(3))+abs(x(4))

+delta)*sign(s);

end

dx=zeros(4,1);

f0=0.5;

ft=f0*sin(3*t);

dx=A*x+b*(u+ft);