基于NDOB的匹配/非匹配不确定性系统滑模控制

针对一类n阶匹配与非匹配不确定性和扰动共存的系统，提出了一种新颖的基于非线性干扰观测器的滑模控制方法。将非匹配扰动的估计值融入到滑模面，设计了集成扰动观测的滑模控制。与传统的滑模控制方法相比，该方法在匹配与非匹配不确定性和扰动出现时具有较好的抑制能力，并能有效地抑制切换增益所引起的抖振现象。利用李雅普诺夫理论和输入-输出稳定性概念严格证明了闭环系统的稳定性。最后通过两个仿真实例验证了所提控制方法的有效性。

SMC for Systems With Matched and Mismatched Uncertainties and Disturbances Based on NDOB

This paper proposes a novel sliding mode control (SMC) approach for general nth order systems with matched and mismatched uncertainties and disturbances based on nonlinear disturbance observer (NDOB). By designing a novel sliding mode manifold integrated with a disturbance estimation technique, a NDOB-based SMC method is designed for these systems. As compared with the nominal SMC method, the proposed method obtains a better disturbance rejection ability in the presence of matched and mismatched uncertainties and disturbances, it can ensure a satisfactory system performance and reduce the chattering in case of reducing the switching gain. A rigorous stability analysis of the composite closed-loop system is provided using Lyapunov theory and input-to-state stable concept. Finally, two simulation results are provided to verify the effectiveness of the proposed control method.