非匹配不确定系统的自适应反步非奇异快速终端滑模控制

针对一类n阶非匹配不确定系统,提出一种自适应反步非奇异快速终端滑模控制方法.控制的前n-1步采用自适应反步控制策略,消除非匹配不确定性的影响；最后一步利用误差的积分构造非奇异快速终端滑模面,设计控制律使系统第n个状态有限时间收敛.该方法对系统中匹配和非匹配不确定项均具有鲁棒性,比自适应反步终端滑模方法具有更快的收敛速度.理论分析证明了闭环系统的稳定性,仿真结果验证了该方法的有效性.

Adaptive backstepping non-singular fast terminal sliding mode controlfor mismatched uncertain systems

An adaptive backstepping non-singular fast terminal sliding mode control is proposed for a class of-order systems with mismatched uncertainties.For the first 1 steps,the backstepping method is adopted and uncertain parameters are estimated by using adaptive law,thus the mismatched uncertainties are restrained.A non-singular fast terminal sliding mode is conformed with the integration of the error in the-th step,and control law is designed to achieve the finite time convergence of the-th system state.As a whole the system is robust to both matched and mismatched uncertainties.In comparison with the adaptive backstepping terminal sliding method,the proposed control method enhances the convergence rate.Theory analysis proves the stability of the close-loop system,and simulation results show the effectiveness of the proposed method.