摘要
针对一类具有不确定性的非线性系统,考虑参数摄动、未建模动态和外界干扰等各种不确定性的综合影响,提出了一种基于切换增益和sigmoid函数边界层厚度的参数自适应滑模控制策略,采用李雅普诺夫稳定性理论证明了闭环系统全局稳定性.该控制方法消除了传统滑模控制的输入抖振现象,而且跟踪精度高,无须确知不确定项的界.仿真算例验证了该方法的有效性.
The effect of uncertainties was considered, and a new direct adaptive sliding mode control was proposed. Through adaptive adjustment of the switching gain and sigmoid function boundary layer thickness, the closed-loop system was robust and asymptotically stable in the sense of the Lyapunov stability. The controller can eliminate the input chattering and obtain high tracking precision without knowing the boundary of the uncertainties. The effectiveness of the method was verified by the simulation results.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2011年第5期79-82,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
重庆市科技攻关项目(CSTC2007AB3035)
关键词
非线性系统
不确定性
滑模控制
自适应控制
边界层
nonlinear systems
uncertainties
sliding mode control
adaptive control
boundary layer
