Abstract:
Aiming at the slow approach speed of sliding mode control of ball and plate system and high-frequency chattering near the switching surface, a sliding region method sliding mode control scheme based on a novel power reaching law is designed. Firstly, two auxiliary switching surfaces are designed on the basis of the original switching surface to define the sliding region. Then, a novel reaching parameter is proposed, and a power function is used to replace the sign function, Finally, the Lyapunov theory is used to prove the stability of the control strateg. The experimental results show that the designed controller not only has good dynamic performance and steady-state accuracy, but also can effectively suppress the chattering generated by the system, which verifies the effectiveness of the control strategy.