一类非线性不确定中立型系统的鲁棒自适应滑模控制

Robust adaptive sliding mode control design for a class of nonlinear uncertain neutral type systems

针对一类匹配非线性不确定中立型时滞系统的鲁棒镇定问题,利用Lyapunov稳定性理论,提出了一种能渐近稳定系统的自适应滑模控制器。基于滑模控制技术,确保了该控制器能驱赶系统状态达到事先指定的滑动超平面,从而获得想要的动态性能。一但系统动态达到滑动运动阶段,系统对不确定是不敏感的。自适应技术的应用克服了不确定的未知上界,并能满足可达条件能。最后,给出的一个仿真例子证明了该自适应滑模控制器的有效性,从而保证了闭环系统的全局渐近稳定性。

The problem of robust stabilization for a class of nonlinear uncertain neutral type systems is investigated in this paper. By applying the Lyapunov stability theorem, a adaptive sliding mode controller （ADSMC） is developed. Based on sliding mode control technique, the proposed controller can drive the systems＇ states into a pre-specified sliding hyperplane to obtain the desired dynamic performance. Once the dynamics of system reach the sliding plane, the proposed controlled system is insensitive to uncertainty. The use of adaptive technique is to overcome the unknown upper bound of uncertainty so that the reaching condition can be satisfied. Finally, a numerical example is given to verify the validity of the developed ADSMC, globally asymptotic stability is guaranteed for the proposed control scheme.