非匹配不确定系统的自适应反演准滑模控制

对于一类n阶非线性系统,提出一种自适应反演准滑模控制方法,控制的前n-1步采用自适应反演算法消除非匹配不确定性的影响,在最后一步,为改进跟踪效果,结合了可变边界层的思想,设计了准滑模控制方法,达到系统的n个状态快速收敛的目的.最终系统中不满足匹配条件的部分也具有较好的鲁棒性.与自适应反演线性滑模方法相比具有更好的跟踪性,理论分析证明了控制系统在削弱抖振的同时也能保证稳态精度,仿真实验证明了该方法的可行性.

Adaptive Backstepping Quasi Sliding Mode Control of Mismatched Uncertain Systems

An adaptive backstepping quasi sliding mode control method is proposed for a class of n order nonlinear systems,the pre n-1 step uses the adaptive inverse algorithms to eliminate the influence of non matching uncertainties.In step n,a quasi sliding mode control with variable boundary layer is designed to reduce the error,so as to make the system fast convergence of n state.The robustness of the system which is partial unsatisfied with the matching condition is improved.The stability of the control system is proved to be more feasible,comparing with the adaptive inverse linear sliding mode method.