非线性不确定系统的变结构控制

针对非线性不确定系统控制问题，在假设系统不确定性有界约束的情况下，提出了基于Lyapunov的稳定变结构控制方法．根据被控系统与参考输入误差，设计了滑模变结构控制，并推导了时变滑动平面方程．给出了考虑或不考虑控制增益情况时的非线性二阶系统及其仿真算例．仿真结果表明，该方法既保征了控制系统的全局渐进稳定性，又保证了滑动平面的可达性，能高精度跟踪给定值，无抖振。

Variable Structure Control of Nonlinear Systems with Uncertainties

The control problem of nonlinear systems with uncertainties is discussed. A Variable Structure (VS) control technology based on Lyapunov theory is proposed based on the assumption that the uncertainties of the system are bounded by some known function. According to the error between system output and the reference, a VS control system is designed. Then a nonlinear second order system is simulated separately with and without control gain. Simulation results show that this method can ensure the global stability and the sliding reachable condition as well, and the state can track the desired one precisely without chattering.