摘要
针对一类MIMO不确定非线性系统的输出跟踪问题,基于自适应反步法和滑模控制为其设计了鲁棒自适应控制器.模型包含3种不确定性:1)参数不确定性;2)输入增益的不确定性;3)代表系统未建模动态和干扰的不确定函数,该函数有界.以非完整移动机械臂的输出跟踪控制为目标,对其进行仿真实验,实验结果表明所提出的控制算法是正确有效的.
Combining the adaptive Backstepping with the sliding mode control, we present a robust adaptive controller for a class of MIMO uncertain nonlinear systems. The model contains three forms of model uncertainty: 1) parametric uncertainty; 2) uncertainty in the input gains; 3) bounded uncertain functions which represent unmodelled dynamics and disturbances. The results of numerical simulation for the output tracking control of nonholonomic mobile manipulators are presented to demonstrate the effectiveness of the proposed approach.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2008年第6期1053-1058,共6页
Control Theory & Applications
关键词
自适应反步
鲁棒控制
滑模控制
不确定非线性系统
adaptive Backstepping
robust control
sliding mode control
uncertain nonlinear systems