一类不确定非线性系统的PASMC及应用

Parameters Adaptive Sliding Mode Control for a Class of Uncertain Nonlinear Systems and Its Application

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(PASMC)策略,采用李亚普诺夫稳定性理论证明了闭环系统全局稳定性。该控制方法不仅具有传统滑模控制的优点,而且能消除抖振且无需确知不确定性的界。最后以船舶减摇鳍非线性控制系统为例,通过仿真验证了该方法的有效性。

Considering the effect of uncertainties such as parameter perturbations, unmodeled dynamics and external disturbances for a class of uncertain nonlinear systems, a new parameters adaptive sliding mode control （PASMC） is proposed. Through adaptive adjust- ment of the switching gain and sigmoid function boundary layer thickness, the closed-loop system is robust and asymptotically stable in the sense of the Lyapunov stability. The controller not only has the advantages of traditional sliding mode control , bust also can elimi- nate the input chattering and need not to know the boundary of the uncertainties. The simulation results of ship fin stabilizer nonlinear system verify the effectiveness of the proposed method.