非线性动态系统的渐近滑态控制概述

Asymptotic Sliding Mode Control for Nonlinear Dynamic Systems:A Tutorial

总结和推广了非线性动态系统渐近滑态（ＡＳＭ）控制方法的若干理论成果。在相当一般的假设条件下，我们指出了可以采用连续（乃至光滑）的控制方案，将系统的状态驱往给定的滑动流形上。此外，我们还引入了基于Ｈａｍｉｌｔｏｎ－Ｊａｃｏｂｉ方程的理论方法，统一了先前得到的关于闭环系统鲁棒性分析的结果。最后我们列举了一些应用例子和研究建议。

This paper summarizes and extends some main results in the asymptotic sliding mode (ASM) control approach for nonlinear dynamic systems. At a level of fairy generality, it is identified that continuous (or even smooth) controllers can be designed to drive the system states towards a preassigned sliding manifold. Furthermore,as Hamilton-Jacobi PDE based technique is employed to unify several previously obtained results in the robustness analysis for the closed-loop system. Finally, a number of applications are proposed to illustrate the theoretical advances.