一类非线性系统的Terminal滑模控制

首先结合Terminal滑模控制的基本思想,即突破以往的线性滑动面,将非线性项引入到滑动面设计中,使得系统处于滑动模态阶段时,状态变量能够在"有限时间内"收敛至平衡点,给出了适用于高阶非线性系统的Terminal滑动面设计方法,基于Lyapunov稳定性理论得出了相应的控制器.进一步考虑系统参数摄动和外界扰动等不确定性因素上界的未知性,用Lyapunov稳定性方法给出了一个带有未知性上界参数估计的自适应Terminal滑模控制器.

Terminal sliding mode control for a class of nonlinear systems

Combined with the basic idea of terminal sliding mode control,which supervises the normal linear sliding mode control,the nonlinear term is introduced into the design of the sliding mode such that the state variable of the sliding mode tends to zero in the finite time in the phase of sliding mode motion.A high-order nonlinear terminal sliding mode surface is derived,which is described by a series of mathematical statements.The controller is obtained based on the theory of Lyapunov stability.Considering the uncertainties,such as parameter variation and disturbances,the terminal sliding mode control with a simple (parameter) adaptive law is derived on the basis of the theory of Lyapunov stability.