一类不确定非线性系统的自适应滑模控制

An uncertain non-linear system of adaptive sliding mode control

滑模变结构控制系统能够通过控制其本身结构的变化,使得系统性能保持一直高于一般固定结构控制所能达到的性能,突破了经典线性控制系统的品质限制,适用于非线性的不确定系统。同时滑模控制能保证在模型的不确定和外部扰动的情况下系统的稳定性与鲁棒性,而且以损失能导致抖振的最优控制性能而得到稳定鲁棒性,同时它的不确定性上界必须是已知的,但有时候很难得到上界。这样提出一种自适应的方法以进一步避免这些问题,同时这种方法能保证闭环系统的稳定性。本论文给出仿真结果来验证该方法的有效性。

Sliding variable structure control can attain ideal property,through controlling change of its structure,so it may apply to non-linear uncertain system.Sliding mode control guarantees robustness in the presence of modeling uncertainties and external disturbances.However this can be obtained at the cost of high control activity that may lead to chattering,at the same time the upper bounds of its uncertainty must be known.Sometimes it is hard to get the upper bounds.So,we present one adaptive control way to alleviate these problems further,the way can guarantee the stability of the closed-loop system.The results of simulation are given to demonstrate the effectiveness of the approach.