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针对一类半严格反馈型不确定非线性系统,提出一种鲁棒反演滑模变结构控制方法.采用反演控制方法设计了使前n-1阶子系统稳定的虚拟控制律,抑制非匹配不确定性的影响;在第n步设计了一种连续可导的滑模变结构控制律,消除控制抖振,实现了对存在未知不确定性及扰动系统的鲁棒输出跟踪.通过Lyapunov定理证明了闭环系统所有信号最终有界.仿真结果验证了该方法的有效性.
For a class of semi-strict uncertain feedback nonlinear systems, a robust inversion sliding mode variable structure control method is proposed. The inversion control method is used to design a virtual control law that stabilizes the first n-1 order subsystems, Matching uncertainties, a continuous and controllable sliding mode variable structure control law is designed in step n to eliminate the control chattering and to realize the robust output tracking of unknown uncertainties and perturbed systems. By Lyapunov The theorem proves that all signals in the closed-loop system are ultimately bounded. The simulation results verify the effectiveness of the proposed method.