有限时间收敛的滑模自适应控制器设计

Design of self-adaptive sliding mode controller with finite time convergence

针对一类非线性不确定系统不确定边界未知但有界的情况,提出一种设计滑模自适应控制器算法。利用几何齐次性理论和积分滑模面设计了滑模自适应控制器,使其能够在有限时间内镇定,并设计相应自适应律估计控制增益,利用Lyapunov理论分析证明了闭环系统能在有限时间镇定。最后,仿真实例验证了所设计的滑模自适应控制器在不确定的情况下具有鲁棒性和自适应性。

A new self-adaptive sliding mode controller algorithm was proposed for a class of uncertain nonlinear systems with unknown but bounded uncertainties. The proposed solution could stabilize the status of these systems in finite time by using geometric homogeneity and integral sliding mode control. In order to solve system uncertainties with unknown but bounded, the corresponding adaptation law was developed to evaluate the gain of the controller. The theoretic analy- sis based on Lyapunov theory proved that the systems with the proposed controller could be stabilized in finite time. Simulation results showed that the proposed adaptive sliding mode controller could achieve better robustness and adapta- tion against uncertainties.