具有饱和死区非线性输入的自适应滑模跟踪控制

Adaptive Sliding Mode Tracking Control with Saturated Dead-zone Nonlinear Inputs

针对一类具有非对称饱和死区的扇区非线性输入系统,研究了自适应滑模输出反馈跟踪控制问题。在假设系统数学模型已知或未知的情形下,分别基于自适应观测器和模糊观测器,提出了滑模控制器的综合设计方案,并通过定义一类李亚普诺夫函数给出了自适应控制器和模糊逻辑系统的参数调整律。所提方法不仅具有对系统模型依赖性小的优点,而且增强了对扰动的鲁棒性,并保证了整个闭环跟踪误差系统的稳定性。最后,仿真结果验证了本方法的有效性。

The adaptive sliding mode output feedback tracking control problem for a class of systems with sector nonlinear inputs containing non-symmetric saturated deadzones is studied. Under the assumption that the system mathematical models are known or unknown, the synthetical design schemes for sliding mode controllers are presented based on the adaptive observer and the fuzzy observer respectively, and the parameter adjusting laws of the adaptive controller and the fuzzy logic system are derived by defining a class of Lyapunov function. The proposed method not only has the advantage of less dependence on system models, but also enhances the robustness to disturbances, and ensures the stability of the closed-loop tracking error systems. Finally, simulation results demonstrate the effectivity of the proposed method.