基于非光滑线性Lipschitz连续平面的滑模控制设计

利用Ｆｉｌｉｐｐｏｖ解、Ｃｌａｒｋｅ广义梯度和非光滑Ｌｙａｐｕｎｏｖ稳定理论，对一类滑模面设计为非光滑线性Ｌｉｐｓｃｈｉｔｚ连续平面的二阶系统滑模控制问题进行深入讨论．首先设计控制律，使闭环系统在有限时间内能够到达所设计的滑模面；然后证明系统在滑模面上的运动是渐近稳定的．放宽了对滑模控制中滑模面设计的要求，提高了所提出设计方法的灵活性，有利于改善系统性能．仿真结果验证了所提出设计方法的正确性和有效性．

Sliding mode control design based on nonsmooth linear Lipschitz continuous surface

By utilizing the notion of Filippov solution,Clarke generalized gradient and nonsmooth Lyapunov stability theory,a further discuss on sliding mode control is presented for second-order systems with a nonsmooth linear Lipschitz continuous sliding surface.Firstly,a discontinuous control law is proposed,which drives the trajectories of the closed-loop system reaching the designed surface in finite time.Furthermore,in the framework of Filippov,the asymptotical stability of the trajectories on the linear Lipschi...