摘要
提出针对一类不确定系统的自适应非奇异Terminal滑模控制。确定含非线性项的滑模面,通过构造李亚普洛夫函数的方式确定控制器结构,设计自适应增益控制律实时估计不确定参数,并考虑外扰动的影响,证明控制系统的稳定性和鲁棒性。仿真结果验证自适应非奇异Terminal滑模控制器能够使不确定系统状态变量快速收敛。
An adaptive non--singular Terminal sliding mode control method is proposed for a class of uncertain systems. Firstly, a sliding surface with the nonlinear term is designed. Secondly, the structure of the controller is determined through Lyapunov function. Next, an adaptive identification of uncertain parameters is designed and the impact of external disturb- ances is considered. Finally, the stability and robustness of this control system is proved. The simulation results show that adaptive non--singular sliding mode controller make convergence of uncertain system state variables fastly.
出处
《计算技术与自动化》
2010年第1期32-34,共3页
Computing Technology and Automation
