一类带死区输入的非线性不确定系统滑模自适应控制  

Sliding-mode Adaptive Control for a Class of Uncertain Nonlinear Systems with Input Dead-zone

作　　者：李永刚[1] 李星野[1] 

机构地区：[1]上海理工大学管理学院,上海200093

出　　处：《计算技术与自动化》2008年第3期31-34,87,共5页Computing Technology and Automation

基　　金：上海市自然科学基金(06ZR14144);上海市教育委员会科研项目(07ZZ94)

摘　　要：研究一类参数不确定和带有未知死区的非线性系统滑模自适应控制问题。将死区分解为两部分,被控系统中有两类不确定性的系统参数,一类是常值的未知系统参数;另一类是时变的未知系统参数和部分未知的死区。采用滑模控制和自适应控制相结合的方式,第一类不确定性可以由自适应控制来处理,而第二类不确定性可以由滑模控制来处理,即滑模自适应控制器。为了消除滑模控制所带来的抖振,引入边界层[1-2]。采用Lyapunov函数证明了系统的稳定性。仿真实验表明方法的可行性。A method is presented to design sliding mode control and adaptive control in the presence of nonlinear systems with parameter uncertainties and unknown dead - zone. Unknown dead - zone is separated into two parts. There are two kinds of parameter uncertainties in the nonlinear system concerned in this paper. The first are the constant parameters which are unknown; the second are the time - varying parameters which are unknown and part of the unknown dead - zone. The controller is combined sliding mode controller with adaptive controller in this paper. The first kind of parameter uncertainties is dealt by adaptive control; the second kind of parameter uncertainties is dealt by sliding mode control. The chattering is eliminated by boundary layer. The stability of the system is proved by Lyapunov function. The simulation results show the feasibility of this method.

关 键 词：不确定非线性系统 死区 滑模控制 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]