一类串级非线性系统的最优滑模控制器设计

对一类串级不确定非线性系统提出了一种基于SDRE控制的最优滑模控制方法.该方法采用2环控制结构，外环控制器的设计采用基于依赖状态的Riccati方程最优控制器，用以产生最优滑模面；内环控制器的设计采用滑动模控制以减小控制系统对参数变化、模型误差、外部干扰的敏感.设计的最优滑模控制器能使一类串级不确定系统具有鲁棒稳定性.同时，提出了2种求解依赖于状态的Riccati方程的方法.最后，通过仿真实例验证了该控制方法的有效性.

Optimal Sliding Mode Controller for a Class of Cascade Uncertain Nonlinear System

It is devoted to designing a kind of optimal sliding mode control method based on State Dependent Riccati Equation (SDRE) control for a class of cascade uncertain nonlinear system in this paper.This designed control method has two-loop control structure.The outer loop controller is designed by using a SDRE optimal control to generate an optimal sliding mode surface.The inner loop controller decreases sensitivity to parameter change by using sliding model control.Synchronously it can minish the influence coursed by model error and external disturbance of control system.Two methods are given to solve the state dependent riccati equation.The designed control method can make the system stable and robust.Finally,an example is given to demonstrate the availability of the proposed control method.