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针对一类具有不确定性的非线性系统,考虑参数摄动、未建模动态和外界干扰等各种不确定性的综合影响,提出一种基于切换增益和sigmoid函数边界层厚度的参数自适应滑模控制(PASMC)策略,采用李亚普诺夫稳定性理论证明了闭环系统全局稳定性。该控制方法不仅具有传统滑模控制的优点,而且能消除抖振且无需确知不确定性的界。最后以船舶减摇鳍非线性控制系统为例,通过仿真验证了该方法的有效性。
For a class of nonlinear systems with uncertainties, considering the combined effects of uncertainties such as parameter perturbation, unmodeled dynamics and external disturbances, a parameter adaptation based on the switching gain and the boundary layer thickness of the sigmoid function is proposed Sliding mode control (PASMC) strategy, the global stability of closed-loop system is proved by Lyapunov stability theory. The control method not only has the advantages of traditional sliding mode control, but also can eliminate the chattering without knowing the bound of uncertainty. Finally, taking the nonlinear control system of ship fin stabilizer as an example, the validity of this method is verified by simulation.