基金This work was supported by the National Natural Science Foundation of China （51307076）, and the Provincial Natural Science Foundation of Liaoning （201602350）.
关键词非匹配不确定性闭环系统扰动估计不匹配SMCLYAPUNOV稳定性理论相匹配滑模变结构控制Input-to-state stable, mismatched uncertainties and disturbances, nonlinear disturbance observer （NDOB）, sliding mode control （SMC）
2Ding S H, Li S H. Stabilization of the attitude of a rigid spacecraft with external disturbances using finite-time con- trol techniques. Aerospace Science and Technology, 2009, 13(4--5): 256--265.
3Utkin V I, Lee H. The chattering analysis. In: Proceedings of the 12th International Power Electronics and Motion Con- trol. Portoroz: IEEE, 2006. 2014-2019.
4Slotine J J, Sastry S S. Tracking control of non-linear systems using sliding surfaces with application to robot manipula- tors. International Journal of Control, 1983, 38(2): 465-492.
5Levant A. Sliding order and sliding accuracy in sliding mode control. International Journal of Control, 1993, 58(6): 1247-1263.
6Levant A. Principles of 2-sliding mode design. Automatica, 2007, 43(4): 576-586.
7Levant A. Higher-order sliding modes, differentiation and output-feedback control. International Journal of Control, 2003, 76(9): 924-941.
8Emelyanov S V, Korovin S K, Levantovskii L V. Higher- order sliding modes in binary control systems. Soviet Physics Doklady, 1986, 31(4): 291-293.
9Boiko I, Fridman L, Pisano A, Usai E. On the transfer prop- erties of the generalized sub-optimal second-order sliding mode control algorithm. IEEE Transactions on Automatic Control, 2009, 54(2): 399-403.
10Shtessel Y B, Foreman D C, Tournes C H. Stability mar- gins in traditional and second order sliding mode control. In: Proceedings of the 50th IEEE Conference on Decision and Control and Control Conference. Orlando, FL, USA: IEEE, 2011. 4604-4609.
