Zhuang Kai-yu, Su Hong-ye, Zhang Ke-qin, Chu Jian
National Lab. of Industrial Control Technology, Institute of Advanced Process Control, Zhejiang University, Hangzhou 310027, China.
J Zhejiang Univ Sci. 2003 Jan-Feb;4(1):58-63. doi: 10.1631/jzus.2003.0058.
An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high-order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high-order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed-loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed-loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method.
提出了一种自适应终端滑模控制（SMC）技术来处理一类高阶非线性动态系统的跟踪问题。结果表明，函数增强滑模面可用于为高阶非线性系统开发一种新的终端滑模。基于李雅普诺夫理论设计了一种终端SMC控制器，以迫使闭环系统的状态变量到达并保持在终端滑模上，从而使输出跟踪误差在可任意设定的有限时间内收敛到零。引入了一种自适应机制来估计系统不确定性上界的未知参数。然后将估计值用作控制器参数，以消除不确定动力学的影响。还表明，所提出的控制策略可以保证闭环系统的稳定性。给出了一个数值例子的仿真，以说明新方法的有效性。
