一类非线性不确定系统的高阶积分自适应滑模控制

针对一类非线性不确定系统的滑模控制,结合有限时间收敛理论、高阶积分滑模理论与自适应控制理论,提出了一种高阶积分自适应滑模控制方法,改善了传统积分滑模存在的抖振问题。该方法通过对有限时间收敛反馈量的选取和高阶积分滑模面的设计,不但确保了系统状态误差在有限时间内的收敛性,而且还保证了系统具备对不确定性干扰的抑制能力。同时,采用自适应方法估计滑模控制的趋近速率,使得无须已知不确定项的边界范围。仿真结果验证了所提方法的有效性。

Higher Order Integral Adaptive Sliding Mode Controller for a Class of Nonlinear Uncertain Systems

A higher order integral adaptive sliding-mode method controller was proposed for a class of nonlinear uncertain systems, which was based on the finite-time convergence theory, higher order integral sliding-mode control theory and adaptive control theory. The proposed method attenuates the chattering problem. Through the feedback of finite time convergence selection and the higher order integral sliding mode surface design, the proposed method not only guarantees output tracking error converges to zero in finite time., but also ensures that the system has a potential to restrain the uncertain disturbances. Meanwhile, using an adaptive law to estimate the tendency rate, which eliminated the needs of prior knowledge about uncertainty bound of system. The numerical simulation results have indicated the effectiveness of the proposed approach.