一类具有非匹配不确定项系统的滑模控制器设计

A new sliding mode controller design method is proposed for a class of system with mismatched uncertainties such that the dynamic function restricted on the sliding surface is completely insensitive to the uncertainties. A sufficient and necessary condition which the system possessing this sliding mode controller should satisfy is explicitly presented. The issue of chattering free is also explored. It is concluded that this class of mismatched term does not bring any chattering problem. Finally, a numerical example illustrates the developed method.     

Sliding Mode Control Design for a Class of Systems with Mismatched Uncertainties

A new sliding mode controller design method is proposed for a class of system with mis- matched uncertainties such that the dynamic function restricted on the sliding surface is completely insensitive to the uncertainties.A sufficient and necessary condition which the system possessing this sliding mode controller should satisfy is explicitly presented.The issue of chattering free is also explored.It is concluded that this class of mismatched term does not bring any chattering problem. Finally,a numerical example illustrates the developed method.     

一类非线性不确定中立型延迟系统的鲁棒滑模控制

讨论一类非线性不确定中立型系统的鲁棒滑模控制问题。通过选择依赖于当前状态和延迟状态的滑动面。就线性矩阵不等式（LMIs）的形式给出使得闭环系统渐近稳定的充分条件。当LMIs有可行解时。可以通过我们构造的控制使得可达条件得到满足。具体算例的仿真结果说明此法的有效性。     

一类非线性不确定非匹配时滞系统的鲁棒滑模控制

针对一类带有不匹配非线性不确定的线性时滞系统,基于稳定性理论,提出一种新的依赖于时滞的滑动模控制策略。该控制策略保证闭环系统滑动阶段的存在性,并在此基础上证明滑动模态运动的稳定性。最后通过仿真例子看出,抖振现象被大大减弱,这进一步说明该控制策略的可行性和有效性。     

一类具有非线性扰动的多重时滞不确定系统鲁棒预测控制

针对一类具有非线性扰动且同时存在多重状态和输入时滞的不确定系统, 提出 一种鲁棒预测控制器设计方法. 基于预测控制滚动优化原理, 运用Lyapunov稳定性 理论和线性矩阵不等式 (Linear matrix inequalities, LMIs)方法, 首先近似求解无限时域二次性能指标优化问题, 然后优化非 线性扰动项所应满足的最大上界, 定量地研究鲁棒预测控制在范数有界意义下的扰动抑制 问题, 并给出了鲁棒预测控制器存在的充分条件. 最后通过仿真验证了所提方法的有效性.     

Non‐Fragile Observer‐Based Control for Uncertain Neutral‐Type Systems via Sliding Mode Technique

This paper is concerned with the problem of observer‐based control for a class of uncertain neutral‐type systems subjected to external disturbance by utilizing sliding mode technique. A novel sliding mode control (SMC) strategy is proposed based on the state estimate and the output. A new sufficient condition of robust asymptotic stability with disturbance attenuation level for the overall systems composed of the original system and error system in the sliding mode is derived in terms of a linear matrix inequality (LMI). Then, a new adaptive controller is designed to guarantee the reachability of the predefined sliding surface in finite‐time. Finally, numerical examples are provided to verify the effectiveness of the proposed method.     

A New Robust Adaptive Control of Uncertain Nonlinear Systems and Pendulum Application

A new robust adaptive control of uncertain nonlinear systems is proposed in this paper. The proposed method combines sliding mode control with the immersion and invariance (I&I) adaptive scheme, and it has more available degrees of freedom than using the backstepping scheme. Via the proposed method, a class of nonlinear systems with mismatched parametric perturbations can be rendered asymptotically stable and the performance of the system can also be improved. Finally, the proposed method is applied to a simple pendulum with motor dynamics, and simulation results show the effectiveness and performance of the proposed method.     

Robust Output Tracking for MIMO Nonlinear Time-Varying Mismatched Uncertain Systems Via Hybrid Control Strategy

This paper considers the problem of robust output tracking control for multi-input multi-output (MIMO) nonlinear systems in the presence of mismatched time-varying uncertainties. Using singular perturbation method and variable structure control technique, we derive a new hybrid controller for MIMO systems with unknown time-varying uncertainties and disturbances to track a desired trajectory. It is shown that the hybrid controller not only stabilizes the closed-loop systems, but also guarantees the tracking errors remain in an O() neighbourhood of the origin where is a small design parameter of the controller. Moreover, by selecting the parameter properly, the tracking errors can be made arbitrarily small.     

Robust Stochastic Stability and Control for Uncertain Singular Markovian Jump Systems with Multiplicative Noise

This paper focuses on the problems of robust stability and stabilization and robust control for uncertain singular Markovian jump systems with (x,v)‐dependent noise. The parameter uncertainties appearing in state, input, disturbance as well as diffusion terms are assumed to be time‐varying but norm‐bounded. Based on the approach of generalized quadratic stability, the memoryless state feedback controller is designed for the robust stabilization problem, which ensures that the resulting closed‐loop system has an impulse‐free solution and is asymptotically stable in the mean square. Furthermore, the results of robust control problem are derived. The desired state feedback controller is presented, which not only meets the requirement of robust stabilization but also satisfies a prescribed performance level. The obtained results are formulated in terms of strict LMIs. What we have obtained can be viewed as corresponding extensions of existing results on uncertain singular systems. A numerical example is finally given to demonstrate the application of the proposed method.     

非匹配不确定非线性系统的自适应反演滑模控制

针对一类具有非匹配不确定性的最小相位仿射非线性系统,研究其在未知扰动作用下的调节问题。基于自适应反演设计方法和变结构控制设计了控制方案,实现不确定系统的鲁棒调节。与经典反演设计相比,本方案允许非参数化不确定性,增强了控制系统的鲁棒性。     

一类非线性系统的多面滑模控制

提出一种基于模糊ＣＭＡＣ神经网络的多面滑模变结构控制算法,其特点是无须已知不确定性函数及其各阶导数的上界,与经典设计广阔霜比,所提出的方案允许非参数化不确定性,仿真实例显示了该方法的有效性。     

一类不确定时滞系统的模糊滑模控制

利用T-S模糊模型逼近一类非线性不确定时滞系统,将非线性系统模糊化为局部线性系统．基于李亚普诺夫稳定性定理设计出使模糊系统全局稳定的滑模控制器,该控制器对满足匹配条件和不满足匹配条件的不确定性系统均适用．最后以Truck—Trailer模型为例进行仿真研究,其结果验证了设计方案的可行性和有效性．     

一类非匹配不确定性系统的变结构控制

研究一类非匹配不确定性系统的变结构控制问题. 引入适当的状态变换, 将非匹配不确定系统描述成具有分级形式的两个子系统. 在保证第一个子系统二次渐近稳定的条件下, 利用线性矩阵不等式方法得到第二个状态变量的期望值, 并由第二个状态变量与其期望值之差构造滑动模, 并利用滑模运动的到达条件, 得到变结构控制律.     

具有分布时滞不确定系统的滑模控制

针对一类含有分布时滞的不确定系统,通过利用Lyapunov稳定性理论和线性矩阵不等式方法进行滑模控制研究.首先,构造滑模控制器,使得系统满足滑模到达条件;其次,通过构造适当的Lyapunov泛函,给出闭环系统渐近稳定的充分条件.该充分条件通过采用虚拟反馈控制思想,结合状态反馈的极点配置方法,转换为线性矩阵不等式的形式,...     

不确定离散广义系统的鲁棒严格无源控制

利用线性矩阵不等式方法讨论了不确定离散线性广义系统的严格无源性和严格无源控制问题。通过引入松驰变量来描述广义系统的快变子系统和慢变子系统之间的代数关系,给出一个新的保证离散广义系统正则、因果、稳定且严格无源的充分条件,该条件表示为严格线性矩阵不等式的形式,不涉及系统状态矩阵的分解问题。然后利用这一条件,给出了状态反馈鲁棒严格无源控制器的设计方法。仿真实例说明了该方法的有效性。     

Sliding Mode Control for Markovian Jump Systems with Generalized Switching

In this paper, the sliding mode control (SMC) problem for continuous‐time Markovian jump systems (MJSs) is considered, in which the transition rate matrix (TRM) is partially unknown and uncertain. Firstly, the sliding mode surface S(t) = 0 is designed, which is mode‐dependent. Therefore, is used instead of in the SMC algorithm. Via adopting a linear matrix inequality (LMI) approach, sufficient conditions are proposed to ensure that the reduced order system is exponentially stable in mean square. Furthermore, the reduced order system is completely insensitive to the external disturbance. Secondly, SMC law is designed correspondingly which dominated by a Markov process. It could drive the state trajectories onto the specified sliding mode surface in finite time quickly and maintain them on the surface in subsequently time. Thirdly, a new term in will be introduced in the designed SMC and should be handled by a new approach. Finally, a numerical example is provided to show the effectiveness of the proposed method.     

非匹配不确定系统的自适应反演准滑模控制

对于一类n阶非线性系统,提出一种自适应反演准滑模控制方法,控制的前n-1步采用自适应反演算法消除非匹配不确定性的影响,在最后一步,为改进跟踪效果,结合了可变边界层的思想,设计了准滑模控制方法,达到系统的n个状态快速收敛的目的.最终系统中不满足匹配条件的部分也具有较好的鲁棒性.与自适应反演线性滑模方法相比具有更好的跟踪性,理论分析证明了控制系统在削弱抖振的同时也能保证稳态精度,仿真实验证明了该方法的可行性.     

Adaptive Observer‐Based Global Sliding Mode Control for Uncertain Discrete‐Time Nonlinear Systems with Time‐Delays and Input Nonlinearity

A new discrete‐time adaptive global sliding mode control (SMC) scheme combined with a state observer is proposed for the robust stabilization of uncertain nonlinear systems with mismatched time delays and input nonlinearity. A state observer is developed to estimate the unmeasured system states. By using Lyapunov stability theorem and linear matrix inequality (LMI), the condition for the existence of quasi‐sliding mode is derived and the stability of the overall closed‐loop system is guaranteed. Finally, simulation results are presented to demonstrate the validity of the proposed scheme.     

一类不确定时滞切换系统的鲁棒保性能控制

研究一类范数有且时变参数的不确定时滞切换系统的保性能控制,其系统矩阵和输入矩阵均含有时变不确定性。基于公共利亚普诺夫函数,导出其在任意切换下,系统的二次稳定保成本控制存在的充分条件,并将之表示为线性矩阵不等式的可行解的问题。最后,仿真算例表明了结论的有效性。     

Finite-time Sliding Mode Control Design for a Class of Uncertain Conic Nonlinear Systems

This paper studies the sliding mode controller design problems for a class of nonlinear system. The nonlinear function is considered to satisfy conic-type constraint condition. A novel finite-time boundedness (FTB) based sliding mode controller design theory is proposed. And then a sufficient condition is obtained in terms of linear matrix inequalities (LMIs), which guarantees the resulted sliding mode dynamics to be FTB wrt some predefined scalars. Thereafter, a FTB-based sliding mode control (SMC) law is synthesized to ensure the state of the controlled system is driven into a novel desired switching surface s(t)=c (c is a constant) in a finite time. Simulation results illustrate the validity of the proposed FTB-based SMC design theory.