一类非线性不确定系统高阶滑模自适应控制设计

针对一类非线性不确定系统，提出一种高阶滑模自适应控制算法．为减少系统抖振和不确定边界未知但有界问题，引入可在线调整参数的双极sigmoid函数和控制器增益．利用Lyapunov理论证明系统在有限时间内稳定并具有鲁棒性，且不确定的上界不需要预先确定．仿真结果验证了该方法的有效性．

Higher order sliding mode control with self-tuning law for a class of uncertain nonlinear systems

A higher order sliding mode control with self-tuning law algorithm is proposed for SISO uncertain nonlinear systems with unknown bound in order to reduce chattering.A bipolar sigmoid function on-line adaptation and an adjustable control gain tuning approach without high frequency switching are developed.The stability of proposed algorithm is proven by using the Lyapunov theory in finite time and the robustness is guaranteed.The upper bounds of uncertainties are not required to be known in advance.The simula...