一种基于反步法的鲁棒自适应终端滑模控制

针对不确定严格反馈块控非线性系统, 提出了一种基于反步法的鲁棒自适应终端滑模变结构控制方法. 系统的未知不确定及外界干扰由模糊系统在线逼近, 利用反步法设计了变结构控制的终端滑模面, 并由此得到了鲁棒自适应终端滑模控制器, 使系统的跟踪误差在有限时间内趋于给定轨迹的任意小的邻域内. 通过Lyapunov定理证明了闭环系统所有信号最终有界. 对某战斗机6自由度机动仿真结果表明, 该方法具有强鲁棒性.

A robust and adaptive terminal sliding mode control based on backstepping

A robust and adaptive terminal sliding mode control based on backstepping is presented for a general class of strict-block-feedback systems with uncertainties. Fuzzy logic systems are employed to compensate for the unknown uncertainties in the system. Adaptive backstepping method is then used to design the terminal sliding surface. A robust and adaptive variable-structure controller is thus obtained. The tracking error is driven onto the sliding surface and converges to an arbitrary small neighborhood of the desired trajectory in finite-time. Using the Lyapunov approach, we prove that all signals in the closed loop system are ultimately bounded. Finally, the simulation results of the nonlinear six-degree-offreedom maneuver flight of a fighter plane demonstrate that the proposed approach has strong robust performance.