| 引用本文: | 周 丽,姜长生,都延丽.一种基于反步法的鲁棒自适应终端滑模控制[J].控制理论与应用,2009,26(6):678~682.[点击复制] |
| ZHOU Li,JIAG Chang-sheng,DU Yan-li.A robust and adaptive terminal sliding mode control based on backstepping[J].Control Theory and Technology,2009,26(6):678~682.[点击复制] |
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| 一种基于反步法的鲁棒自适应终端滑模控制 |
| A robust and adaptive terminal sliding mode control based on backstepping |
| 摘要点击 3450 全文点击 2323 投稿时间：2007-12-09 修订日期：2009-04-27 |
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| DOI编号 10.7641/j.issn.1000-8152.2009.6.019 |
| 2009,26(6):678-682 |
| 中文关键词 鲁棒自适应控制 反步法 终端滑模 模糊系统 机动飞行 |
| 英文关键词 robust and adaptive control backstepping terminal sliding mode fuzzy logic system maneuver flight |
| 基金项目 国家自然科学基金资助项目(90405011, 90716028). |
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| 中文摘要 |
| 针对不确定严格反馈块控非线性系统, 提出了一种基于反步法的鲁棒自适应终端滑模变结构控制方法. 系统的未知不确定及外界干扰由模糊系统在线逼近, 利用反步法设计了变结构控制的终端滑模面, 并由此得到了鲁棒自适应终端滑模控制器, 使系统的跟踪误差在有限时间内趋于给定轨迹的任意小的邻域内. 通过Lyapunov定理证明了闭环系统所有信号最终有界. 对某战斗机6自由度机动仿真结果表明, 该方法具有强鲁棒性. |
| 英文摘要 |
| A robust and adaptive terminal sliding mode control based on backstepping is presented for a general class of strict-block-feedback systems with uncertainties. Fuzzy logic systems are employed to compensate for the unknown uncertainties in the system. Adaptive backstepping method is then used to design the terminal sliding surface. A robust and adaptive variable-structure controller is thus obtained. The tracking error is driven onto the sliding surface and converges to an arbitrary small neighborhood of the desired trajectory in finite-time. Using the Lyapunov approach, we prove that all signals in the closed loop system are ultimately bounded. Finally, the simulation results of the nonlinear six-degree-offreedom maneuver flight of a fighter plane demonstrate that the proposed approach has strong robust performance. |