| 引用本文: | 郑剑飞,冯 勇,郑雪梅,杨旭强.不确定非线性系统的自适应反演终端滑模控制[J].控制理论与应用,2009,26(4):410~414.[点击复制] |
| ZHENG Jian-fei,FENG Yong,ZHENG Xue-mei,YANG Xu-qiang.Adaptive backstepping-based terminal-sliding-mode control for uncertain nonlinear systems[J].Control Theory and Technology,2009,26(4):410~414.[点击复制] |
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| 不确定非线性系统的自适应反演终端滑模控制 |
| Adaptive backstepping-based terminal-sliding-mode control for uncertain nonlinear systems |
| 摘要点击 1748 全文点击 1705 投稿时间：2008-01-16 修订日期：2008-08-12 |
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| DOI编号 10.7641/j.issn.1000-8152.2009.4.010 |
| 2009,26(4):410-414 |
| 中文关键词 自适应控制 反演 终端滑模控制 高阶滑模控制 鲁棒性 |
| 英文关键词 adaptive control backstepping terminal sliding mode control high-order sliding mode control robustness |
| 基金项目 国家自然科学基金资助项目(60474016, 60774040). |
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| 中文摘要 |
| 针对一类参数严格反馈型不确定非线性系统, 本文提出一种自适应反演终端滑模控制方法. 反演控制的前n-1步结合自适应律估计系统的未知参数, 第n步采用非奇异终端滑模, 使系统最后一个状态有限时间内收敛.利用微分估计器获得误差系统状态的导数, 并设计了高阶滑模控制律, 去除控制抖振, 使系统对于匹配和非匹配不确定性均具有鲁棒性. 同自适应反演线性滑模方法相比, 所提方法提高了系统的收敛速度和稳态跟踪精度, 并且控制信号更加平滑. 仿真结果验证了该方法的有效性. |
| 英文摘要 |
| An adaptive backstepping-based terminal-sliding-mode control method is proposed for a class of uncertain nonlinear systems in parametric-strict feedback form. The adaptive control law is combined with the first n-1 steps of the backstepping method to estimate the unknown parameters of the system. In the n-th step, a nonsingular terminalsliding- mode is then utilized to drive the last state of the system to converge in a finite period of time. Furthermore, the derivative estimator is used to obtain the derivatives of the states of the error system; and the high-order sliding-modecontrol law is designed to eliminate the chattering and to make the system robust to both the matched and the mismatched uncertainties. Compared to the adaptive backstepping-based linear sliding-mode-control method, the proposed method improves the convergence rate and the steady-state tracking accuracy of the system, and makes the control signal smoother. Finally, the simulation results are presented to validate the method. |
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