摘要
针对一类具有不确定性和外扰动的非线性系统,提出一种新型快速动态终端滑模反步控制方法.滑模控制与反步控制结合,使系统对匹配和非匹配不确定性均具有鲁棒性;动态滑模很好地避免了滑模控制器中的抖振;新型快速终端滑模的收敛速度在任意点均快于现有的标准快速终端滑模.再采用放宽条件的非线性干扰观测器对系统复合干扰进行逼近,并设计自适应鲁棒项,进一步提高控制性能.基于李雅普诺夫理论证明了系统稳定性.最后,将该控制方案用于具有大扰动和不确定性的非线性系统,仿真结果证明了控制方案的有效性和优越性.
For a class of nonlinear system with uncertainties and disturbance, a new fast dynamic terminal sliding mode Backstepping control scheme is proposed. The sliding mode control is combined with Backstep- ping control to obtain robustness for system with matched uncertainties and unmatched uncertainties. Dynamic sliding mode has perfectly avoided the chattering in sliding mode controller. New fast terminal sliding mode has faster convergence speed than normal fast terminal sliding mode at any points. Where after, nonlinear disturbance observer with relaxed conditions is used to approximate the compound disturbance and adaptive robust control term is added to improve control performance. The stability of system is proved by Lyapunov theorem. Finally, simulation has proved the validity and advantage under the control scheme.
出处
《系统工程学报》
CSCD
北大核心
2012年第5期575-582,共8页
Journal of Systems Engineering
基金
国家自然科学基金资助项目(90716028
60974106)
关键词
新型快速终端滑模
动态滑模
反步控制
非线性干扰观测器
new fast terminal sliding mode
dynamic sliding mode
backstepping control
nonlinear disturbance observer
