Fast self-adapting high-order sliding mode control for a class of uncertain nonlinear systems  

作　　者：GUO Fuhui LU Pingli 

机构地区：[1]School of Automation,Beijing Institute of Technology,Beijing 100081,China

出　　处：《Journal of Systems Engineering and Electronics》2021年第3期690-699,共10页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(61433003,60904003,11602019).

摘　　要：A fast self-adapting high-order sliding mode(FSHOSM)controller is designed for a class of nonlinear systems with unknown uncertainties.As for uncertainty-free nonlinear system,a new switching condition is introduced into the standard geometric homogeneity.Different from the existing geometric homogeneity method,both state variables and their derivatives are considered to bring a reasonable effective switching condition.As a result,a faster convergence rate of state variables is achieved.Furthermore,based on the integral sliding mode(ISM)and above geometric homogeneity,a self-adapting high-order sliding mode(HOSM)control law is proposed for a class of nonlinear systems with uncertainties.The resulting controller allows the closed-loop system to conduct with the expected properties of strong robustness and fast convergence.Stable analysis of the nonlinear system is also proved based on the Lyapunov approach.The effectiveness of the resulting controller is verified by several simulation results.

关 键 词：adaptive control law geometric homogeneity high-order sliding mode(HOSM) integral sliding mode(ISM) 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]