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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,提出了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策略,采用李雅普诺夫稳定性理论证明了闭环系统全局稳定性.该控制方法消除了传统滑模控制的输入抖振现象,而且跟踪精度高,无须确知不确定项的界.仿真算例验证了该方法的有效性.
Aiming at the uncertainties of a class of nonlinear systems with uncertainties and considering the combined effects of uncertain parameters such as parameter perturbation, unmodeled dynamics and external disturbances, a parameter based on the switching gain and the boundary layer thickness of the sigmoid function Adapting to the sliding mode control strategy, the global stability of the closed-loop system is proved by the Lyapunov stability theory. This control method eliminates the input chattering caused by the traditional sliding mode control and has a high tracking accuracy without knowing the uncertainties. Simulation results show the effectiveness of this method.