基于状态观测器的输入受限不确定系统的滑模控制

State-Observer-Based Sliding Mode Control for Uncertain Systems Subject to Input Constraint

研究了控制输入受限情况下不确定系统的滑模控制问题,其中,系统不确定性同时存在于状态矩阵和控制增益矩阵中。首先,利用状态观测器估计不可测状态;然后,在状态估计空间选择一种积分型切换面;最后,设计一个基于状态估计的滑模控制律以保证系统状态轨迹在有限时间内到达指定的切换面,同时利用等价控制律方法给出了滑模动态渐近稳定的充分条件。数值仿真实验验证了本文算法的有效性。

The problem of sliding mode control for uncertain systems subject to input constraint is considered.There exist uncertainties in state matrix and input matrix,respectively.Moreover,the system states are unmeasured.An integral sliding surface is constructed in the space of state estimation.And then,a sliding mode controller based on state observer is designed such that the state trajectories can be driven onto the specified sliding surface in finite time despite the parameter uncertainties and input constraint.By means of equivalent control law,a sufficient condition is given to guarantee the asymptotic stability of the sliding motion.Finally,an example is provided to illustrate the effectiveness of the proposed method.