非匹配不确定非线性系统的滑模跟踪控制

在非匹配不确定非线性系统中，系统状态之间无通常的积分关系，从而无法得到系统状态的各阶导数，因此，那些其于系统状态各阶导数的滑模控制方法也就无法实现，为此，在利用多级滑模观测器对系统状态的各阶导数进行估计的基础上，针对非匹配不确定非线性系统，采用合成输入这一概念来构造滑动面，将其选取为跟踪误差及其积分、微分的线性组合，利用Lyapunov方法对滑模控制律进行设计，以实现滑动模，进而实现此类系统的跟踪控制，设计过程同时也证明了，利用多级观测器，该滑模控制方法对非线性不确定性因素具有鲁棒性，闭环系统在有限时间进入滑动模态，仿真算例证实了该方案的可行性。

Sliding Mode Tracking Control of Nonlinear Systems with Non-matched Uncertainties

For nonlinear systems with non matched uncertainties, there are no traditional integral relationships among system state variables. So, the derivatives of system variables are not available for the development of sliding mode control method. In order to make the sliding surface realizable, a multistage sliding mode observer is included in the arithmetic. Based on the concept of synthetic input, the control law was developed for a sliding surface that is designed in the form of tracking error and its derivative and integral. By exerting the control law, the closed system reaches the sliding surface in a finite time. The simulation results prove the controller's feasibility.