不确定系统的参数自适应变结构控制

针对满足匹配条件且不确定部分上界不确知的动态系统设计了变结构控制 .不确定部分 ,可以包括系统内部参数的扰动、系统外部的干扰或系统的非线性部分 .变结构控制的设计无需不确定部分的上界值 ,只要不确定部分满足一些简单的条件即可 .在采用连续化方法之后 ,抖振得以消除 ,使该方法简单、实用 .通过对倒立摆的仿真研究 ,验证了方法的正确性 ,表明在赋予系统强鲁棒性的同时 ,该方法也使系统获得较满意的快速性能

Variable Structure Control with Adaptive Parameter for Uncertain Dynamic Systems

Variable Structure Control ( VSC) was applied to the dynamic system satisfying matching condi- tion when the upper bounds of uncertainties is unknown. The uncertainties include extraneous distur- bance,inputmatrix uncertainty and nonlinearity of system.After solving the undesirable chattering prob- lem,the scheme becomes simple and practical.The simulation results of the inverted pendulum confirm the validity of the scheme.It shows that the method endows the system with fast convergence as well as strong robustness.