不确定非线性系统自适应反演积分滑模控制

Adaptive Integral Back-stepping Sliding Mode Control for Uncertain Nonlinear Systems

针对一类n阶参数严格反馈型非匹配不确定非线性系统,提出一种自适应反演快速积分终端滑模控制方法。控制的前n-1步采用标准自适应反演控制策略并给出自适应律,第n步构造出一种积分非奇异终端滑模面。为降低控制量抖振,将滑模终端吸引子思想引入滑模面的设计中,进而求出系统总控制律,从而消除非匹配不确定性影响并提升系统的动态性和鲁棒性。通过Lyapunov理论证明系统状态在有限时间内收敛。最后,对比仿真实验验证了所提控制方法的有效性。

An adaptive back-stepping fast-terminal sliding mode control method based on integration is proposed for a class of n-order unmatched uncertain nonlinear systems in parametric-strict feedback form. In the first n-1 steps, the standard adaptive back-stepping control strategy is adopted and the adaptive law is given, then in the n-th step, a non-singular integration terminal sliding mode surface is designed. In order to reduce the chattering of the control variable, the idea of sliding mode terminal attractor is introduced into the design of the sliding mode surface, and then the total control law of the system is obtained, which eliminates the influence of mismatched uncertainties and improves the dynamic and robustness of the system. The variables of the system are proved to be uniform and ultimately bounded in limited time by using Lyapunov theory.Finally, the results of comparative simulation experiments demonstrate the effectiveness of the proposed control method.