一类非匹配不确定非线性系统的鲁棒跟踪控制制

针对一类半严格反馈型不确定非线性系统,提出一种鲁棒反演滑模变结构控制方法.采用反演控制方法设计了使前n-1阶子系统稳定的虚拟控制律,抑制非匹配不确定性的影响;在第n步设计了一种连续可导的滑模变结构控制律,消除控制抖振,实现了对存在未知不确定性及扰动系统的鲁棒输出跟踪.通过Lyapunov定理证明了闭环系统所有信号最终有界.仿真结果验证了该方法的有效性.

Robust tracking control for a class of nonlinear systems with unmatched uncertainties

A robust backstepping sliding mode control is proposed for a class of uncertain nonlinear systems in semi-strict feedback form.The backstepping method is employed to design the virtual controller to guarantee the stabilization of the preceding n-1 steps subsystem and restrain unmatched uncertainties.In the n-th step,a continuous and differentiable sliding mode variable structure control law is designed to eliminate the chattering and achieve robust output tracking in the presence of unknown uncertainties an...