不确定非线性系统的自适应最终滑模控制──Backstepping方法(英)

Adaptive Terminal Sliding Mode Control of Uncertain Nonlinear Systems-Backstepping Approach

对具有参数不确定与未知非线性的一类非线性系统，本文通过引入快慢两种切换线给出了一种自适应有限时间滑模控制机制．Backstepping方法被应用到设计中．此种控制机制保证了闭环系统的稳定性并使状态在有限时间内收敛到原点．仿真结果表明该控制机制的有效性．

An adaptive finite time sliding mode control design scheme for a family of uncertainnonlinear systems with parametric uncertainties and unknown nonlinearities is presented by introducing slow and fast switching lines. The backstepping approach is used in the adaptive slidingmode control scheme. The global stability is guaranteed under the scheme developed and the system state reaches the origin in finite time. Simulation results are presented to show the effectiveness of the scheme.