非匹配不确定输入时滞系统的自适应滑模控制

Adaptive Sliding Mode Control for a Class of Systems with Input Time-Delay and Unmatched Uncertainties

针对具有输入时滞、且同时具有非匹配不确定项的一类对象模型,采用状态变换法把原系统转化成为一个无时滞系统,并应用滑模控制的方法设计了控制器.考虑到不确定项未知,进一步设计了具有自适应能力的滑模控制器,以保证滑模面的存在性,克服不确定性的影响.针对非匹配不确定项,根据Lyapunov稳定性定理,提出了保证系统渐近稳定所要满足的条件.仿真结果证实了该控制策略的可行性和有效性.

The state transformation is used to convert a system with uncertain and unmatched input time-delay into a delay-free one, with a sliding mode controller designed. To ensure the existence of a sliding mode surface and eliminate the possible effect of the unkown uncertain term on the controller, an adaptive sliding mode controller is further designed. In view of the unmatched and uncertain term, a sufficient condition is derived guaranteeing the delay-dependent asymptotical stability of the system in sliding mode in accordance to the Lyapunov stability theorem. Simulation result show＇s the feasibility and validity of the method proposed.