| 基于反演的不确定非线性系统自适应滑模控制 |
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| 引用本文： | 张元涛,石为人,李颍.基于反演的不确定非线性系统自适应滑模控制[J].华中科技大学学报(自然科学版),2011(7):88-91,98. |
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| 作者姓名： | 张元涛 石为人 李颍 |
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| 作者单位： | 重庆大学自动化学院; |
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| 基金项目： | 重庆市科技攻关项目(CSTC2008AB3049) |
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| 摘 要： | 针对一类参数半严格反馈形式的非匹配不确定非线性系统,基于反演设计方法和滑模控制技术,研究了其在非匹配未知参数和非参数不确定性下的跟踪控制问题,提出了自适应反演滑模控制策略,实现了不确定非线性系统的鲁棒输出跟踪.本方法允许系统同时存在匹配和非匹配的参数不确定性及非参数不确定性,而且考虑了控制增益的不确定性,通过增益参数的设计还可实现滑模面到达时间的调节,并进一步削弱了抖振.仿真算例验证了理论的有效性.
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| 关 键 词： | 滑模控制 自适应控制 非线性系统 非匹配不确定性 反演 |
Backstepping-based adaptive sliding mode control of uncertain nonlinear systems |
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| Zhang Yuantao Shi Weiren Li Ying.Backstepping-based adaptive sliding mode control of uncertain nonlinear systems[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2011(7):88-91,98. |
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| Authors: | Zhang Yuantao Shi Weiren Li Ying |
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| Institution: | Zhang Yuantao Shi Weiren Li Ying(College of Automation,Chongqing University,Chongqing 400030,China) |
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| Abstract: | In order to deal with the unmatched unknown parameters and nonparametric uncertainties,an adaptive sliding mode controller was proposed for nonlinear systems with parametric semi-strict feedback form.Based on the combination of adaptive backsteping method and sliding mode control technology,the proposed controller can provide robust output tracking.The characteristics of this method are to allow the matched and mismatched system parametric uncertainties and non-parametric uncertainties exist simultaneously,... |
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| Keywords: | sliding mode control adaptive control nonlinear systems unmatched uncertainties backstepping |
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