摘要
针对一类不确定非线性时滞系统的鲁棒滑模控制器设计问题,提出了一种自适应滑模控制方法,该方法能够有效地削弱系统的输入抖动.基于自适应滑模控制技术和Lyapunov稳定方法,克服了系统不确定性和时滞特性影响,不但保证系统状态可以在有限的时间内到达滑模面,而且还保证了系统的渐近稳定特性.最后给出的仿真结果验证了该控制方案的有效性.
Problems occur when robust sliding model controller designs are applied in uncertain nonlinear time-delay systems. To resolve them,an adaptive sliding mode controller which effectively reduced input chattering was proposed. With the sliding controller technique and the Lyapunov stability method,the influence of both uncertainty and time-delays on the system was considerably reduced. Furthermore,system states reached a sliding mode plane within a finite time,with asymptotical stability guaranteed. The simulation results demonstrated the validity of the proposed approach.
出处
《智能系统学报》
2010年第4期332-335,共4页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(60525303
60704009)
燕山大学博士基金资助项目(B209)
关键词
非线性时滞系统
自适应控制
滑模控制
nonlinear time-delay systems
adaptive control
sliding mode control
