摘要
针对一类非线性不确定系统不确定边界未知但有界的情况,提出一种设计滑模自适应控制器算法。利用几何齐次性理论和积分滑模面设计了滑模自适应控制器,使其能够在有限时间内镇定,并设计相应自适应律估计控制增益,利用Lyapunov理论分析证明了闭环系统能在有限时间镇定。最后,仿真实例验证了所设计的滑模自适应控制器在不确定的情况下具有鲁棒性和自适应性。
A new self-adaptive sliding mode controller algorithm was proposed for a class of uncertain nonlinear systems with unknown but bounded uncertainties. The proposed solution could stabilize the status of these systems in finite time by using geometric homogeneity and integral sliding mode control. In order to solve system uncertainties with unknown but bounded, the corresponding adaptation law was developed to evaluate the gain of the controller. The theoretic analy- sis based on Lyapunov theory proved that the systems with the proposed controller could be stabilized in finite time. Simulation results showed that the proposed adaptive sliding mode controller could achieve better robustness and adapta- tion against uncertainties.
出处
《山东大学学报（工学版）》
CAS
北大核心
2012年第4期74-78,共5页
Journal of Shandong University（Engineering Science）
基金
国家自然科学基金资助项目(60970016)
关键词
滑模控制
有限时间稳定
几何齐次性
鲁棒性
自适应律
sliding mode control
finite time stability
geometric homogeneity
robustness
adaptive law
