非匹配不确定非线性系统的自适应反演滑模控制

针对一类具有非匹配不确定性的最小相位仿射非线性系统，研究其在未知扰动作用下的调节问题。基于自适应反演设计方法和变结构控制设计了控制方案，实现不确定系统的鲁棒调节。与经典反演设计相比，本方案允许非参数化不确定性，增强了控制系统的鲁棒性。

Adaptive Sliding Mode Controller for Nonlinear Systems with Mismatched Uncertainties Based on Adaptive Backstepping Scheme

In this paper, we proposed an adaptive backstepping scheme based sliding mode controller for nonlinear systems with mismatched uncertainties. The proposed method contains two techniques: adaptive backstepping and sliding mode control. Comparing with the classical adaptive backstepping procedure, it allows the nonparametric uncertainties in the last equations of the systems. The robustness of the closed loop system is enhanced. The results are illustrated by a example.