| 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):.[点击复制] |
| Zheng Jian-fei,FENG Yong,ZHENG Xue-mei,YANG Xu-qiang.Adaptive backstepping based terminal sliding mode control of uncertain nonlinear systems[J].Control Theory and Technology,2009,26(4):.[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 of uncertain nonlinear systems |
| 摘要点击 1286 全文点击 789 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.CCTA080055 |
| 2009,26(4):- |
| 中文关键词 自适应控制 反演 终端滑模 高阶滑模 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 |
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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 parametricstrict feedback form uncertain nonlinear systems in this paper. The adaptive control law is combined with the preceding n-1 steps of the backstepping method to estimate the unknown parameters of the system. In the n-th step, a nonsingular terminal sliding mode is utilized to drive the last state of the system to converge within finite time. The derivative estimator is used to obtain the derivatives of the error system states, and the high-order sliding mode control law is designed to eliminate the chattering and make the system robust to both matched and mismatched uncertainties. Compared to the adaptive backstepping based linear sliding mode control method, the proposed method improves the convergence speed and the steady-state tracking accuracy of the system, and makes the control signal smoother. The simulation results are presented to validate the method. |
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