| 引用本文: | 李 俊,徐德民.不确定非线性系统的多模反演滑模控制[J].控制理论与应用,2001,18(5):801~804.[点击复制] |
| LI Jun,XU De-min.Multi-Mode Backstepping Sliding Mode Control for Nonlinear Systems with Unmatched Uncertainties[J].Control Theory and Technology,2001,18(5):801~804.[点击复制] |
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| 不确定非线性系统的多模反演滑模控制 |
| Multi-Mode Backstepping Sliding Mode Control for Nonlinear Systems with Unmatched Uncertainties |
| 摘要点击 1357 全文点击 1253 投稿时间：1999-04-26 修订日期：2000-07-10 |
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| DOI编号 10.7641/j.issn.1000-8152.2001.5.035 |
| 2001,18(5):801-804 |
| 中文关键词 非匹配不确定性 非线性系统 反演设计 变结构控制 |
| 英文关键词 unmatched uncertainties nonlinear system backstepping design VSC |
| 基金项目 西北工业大学科研启动费(5211305-2110-111)资助项目. |
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| 中文摘要 |
| 对一般形式的仿射非匹配不确定非线性系统, 研究了一种具有任意小跟踪误差的稳定控制器的设计新方法. 结合反演(backstepping)设计和变结构控制, 提出了反演变结构控制策略. 对存在非匹配的不确定性和未知干扰的系统, 设计的反演变结构控制器实现了鲁棒输出跟踪, 闭环系统在有限时间进入滑动模态. 仿真算例证实了理论结果. |
| 英文摘要 |
| In this paper, a new method is proposed for designing stable controllers with arbitrarily small tracking error for nonlinear systems with unmatched uncertainties. The proposed approach is based upon a combination of the backstepping design method and the variable structure control scheme to design backstepping VS controller and provide robust output tracking even in the presence of unknown disturbance. The closed loop systems reach the sliding surface in a finite time. Simulations are provided to illustrate the performance of the controller. |