一类非匹配不确定系统的滑模控制

Sliding mode control for a class of systems with mismatched uncertainties

研究了一类非匹配不确定系统的滑模控制问题 .通过引入适当的状态变换 ,将系统分解成两个子系统 ,提出了一种基于二次稳定性的鲁棒滑模面的设计方法 ;根据滑模控制的到达条件 ,设计了整个系统的滑模控制器 ,使得从任意状态出发的不确定系统能在有限的时间内到达滑动面 ,确保了系统的全局渐近稳定性 .

A method was presented to design robust sliding mode plane in the presence of mismatched uncertainties based on quadratic stability. The sliding mode control was derived according to the reaching condition. It enabled uncertain system to reach sliding mode plane within finite time to guarantee the global stability of the system. Simulation results showed the validity of the proposed method.