存在输入时滞的不确定系统的滑模控制

考虑存在输入时滞情况下不确定系统的滑模控制问题,其中被控系统存在状态不确定和控制输入不确定性。通过设计一种新的积分型滑模切换面,不仅可以保证系统状态轨迹从初始状态开始就位于指定的切换面上,而且能够适应系统参数的摄动。给出了保证闭环系统渐近稳定的充分条件。仿真实验结果验证了本文算法的有效性。

Sliding Mode Control for Uncertain Systems with Input Time-Delay

The problem of sliding mode control for uncertain systems with input time-delay is considered.There exist uncertainties in both state matrices and input matrix in the considered systems.A novel integral switching surface is designed so that not only the system's state trajectories can be ensured to lie in the chosen switching surface at initial time, but also this surface is robust to the perturbation of systems parameters.A sufficient condition is derived so that the asymptotieal stability of the closed-loop system is guaranteed.A simulation is provided to illustrate the effectiveness of the proposed method.