不确定非线性系统的高阶滑模控制器设计

针对一类不确定非线性SISO系统,结合系统有限时间稳定理论与积分滑模控制理论,提出了一种新的高阶滑模控制器设计方法,改善了现有高阶滑模控制中存在的缺陷.积分滑模保证了系统初始时刻就具有抗扰能力,同时采用有限时间稳定观测器实现了高阶滑模的输出反馈控制.仿真结果表明该控制器可使系统在有限时间内收敛,并有效地减小了系统抖振.

Higher-order sliding-mode controller for a class of uncertain nonlinear systems

A novel design method of higher-order sliding-mode controller is proposed for a class of uncertain nonlinear SISO systems, which is based on the finite-time stability theory and integral sliding-mode control theory and avoids some shortcomings of existing higher-order sliding-mode controllers. The integral sliding-mode guarantees the disturbancerejection ability for the system at the initial time. Meanwhile, the output-feedback control is realized by employing a finite-time stable observer. Simulation results show that this controller drives the system to converge in finite time and alleviates the chattering phenomena effectively.