Adaptive backstepping-based NTSM control for unmatched uncertain nonlinear systems  

作　　者：Xuemei Zheng Peng Li Haoyu Li Danmei Ding 

机构地区：[1]Department of Electrical Engineering,Harbin Institute of Technology

出　　处：《Journal of Systems Engineering and Electronics》2015年第3期557-564,共8页系统工程与电子技术（英文版）

基　　金：supported by the Natural Science Foundation of Heilongjiang Province(E201426)

摘　　要：An adaptive backstepping-based non-singular termi- nal sliding mode （NTSM） control method is proposed for a class of uncertain nonlinear systems in the parameteric-strict feedback form. The adaptive control law is combined with the first n - 1 steps of the backstepping method to estimate the unknown pa- rameters of the system. In the nth step, an NTSM control strategy is utilized to drive the last state of the system to converge in a finite time. Furthermore, the derivate estimator is used to obtain the derivates of the states of the error system; the higher-order non-singular terminal sliding mode control （HONTSMC） law is de- signed to eliminate the chattering and make the system robust to both matched and unmatched uncertainties. Compared to the adaptive backstepping-based linear sliding mode control method （LSMC）, the proposed method improves the convergence rate and the steady-state tracking accuracy of the system, and makes the control signal smoother. Finally, the compared simulation results are presented to validate the method.An adaptive backstepping-based non-singular termi- nal sliding mode （NTSM） control method is proposed for a class of uncertain nonlinear systems in the parameteric-strict feedback form. The adaptive control law is combined with the first n - 1 steps of the backstepping method to estimate the unknown pa- rameters of the system. In the nth step, an NTSM control strategy is utilized to drive the last state of the system to converge in a finite time. Furthermore, the derivate estimator is used to obtain the derivates of the states of the error system; the higher-order non-singular terminal sliding mode control （HONTSMC） law is de- signed to eliminate the chattering and make the system robust to both matched and unmatched uncertainties. Compared to the adaptive backstepping-based linear sliding mode control method （LSMC）, the proposed method improves the convergence rate and the steady-state tracking accuracy of the system, and makes the control signal smoother. Finally, the compared simulation results are presented to validate the method.

关 键 词：adaptive control BACKSTEPPING terminal sliding mode higher-order sliding mode control robustness. 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP27[自动化与计算机技术—控制科学与工程]