一种自适应全程滑模变结构控制器的研究与设计

针对非线性不确定系统的控制问题，为了消除传统滑模变结构控制系统的到达运动并实现对系统不确定量的估算，设计了一种自适应全程滑模变结构控削器。通过设计一种动态非线性滑模函数，使系统从初始状态即可进入滑模运动，并在控制律的作用下使系统运动到期望状态，系统在响应的全过程均具有鲁棒性，克服了传统滑模变结构控制系统到达运动阶段不具有鲁棒性的缺点。通过设计一种自适应律实现对系统不确定量的辨识估计，以辨识结果实时调整控制器参数，大大削弱了系统的抖动。仿真结果表明该控制系统具有较强的鲁棒性能。

Research and Design of an Adaptive Global Sliding Mode Variable Structure Controller

In order to eliminate the reaching phase of traditional sliding mode variable structure control system and achieve the estimations of system uncertainties for the control of a nonlinear uncertain system,an adaptive global sliding mode variable structure controller(AGSMVSC) was designed by combining the global sliding mode variable structure control(GSMVSC) with adaptive control.The system state variables reached the sliding surface at the very beginning by means of designing a dynamic nonlinear sliding mode...