非匹配不确定系统的自适应反步非奇异快速终端滑模控制  

Adaptive backstepping non-singular fast terminal sliding mode control for mismatched uncertain systems

作　　者：李浩[1] 窦丽华[1] 苏中[2] 

机构地区：[1]北京理工大学自动化学院,复杂系统智能控制与决策教育部重点实验室,北京100081 [2]北京信息科技大学现代测控技术教育部重点实验室,北京100081

出　　处：《控制与决策》2012年第10期1584-1587,1592,共5页Control and Decision

基　　金：国家自然科学基金项目(60972118);北京市普通高校重点实验室(自动控制系统)项目(CSYS100070417)

摘　　要：针对一类阶非匹配不确定系统,提出一种自适应反步非奇异快速终端滑模控制方法.控制的前n-1步采用自适应反步控制策略,消除非匹配不确定性的影响;最后一步利用误差的积分构造非奇异快速终端滑模面,设计控制律使系统第n个状态有限时间收敛.该方法对系统中匹配和非匹配不确定项均具有鲁棒性,比自适应反步终端滑模方法具有更快的收敛速度.理论分析证明了闭环系统的稳定性,仿真结果验证了该方法的有效性.An adaptive backstepping non-singular fast terminal sliding mode control is proposed for a class of n-order systems with mismatched uncertainties. For the first n- 1 steps, the backstepping method is adopted and uncertain parameters are estimated by using adaptive law, thus the mismatched uncertainties are restrained. A non-singular fast terminal sliding mode is conformed with the integration of the error in the n-th step, and control law is designed to achieve the finite time convergence of the n-th system state. As a whole the system is robust to both matched and mismatched uncertainties. In comparison with the adaptive backstepping terminal sliding method, the proposed control method enhances the convergence rate. Theory analysis proves the stability of the close-loop system, and simulation results show the effectiveness of the proposed method.

关 键 词：非奇异快速终端滑模控制 自适应控制 反步控制 非匹配不确定性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]