空军工程大学学报（自然科学版）2012，Vol.13Issue(5)：14-19,6.DOI:10.3969/j.issn.1009-3516.2012.05.004
不确定非线性系统的自适应反推终端滑模控制
Adaptive Aackstepping Terminal Sliding Mode Control for Uncertain Nonlinear Systems
摘要
Abstract
An adaptive backstepping terminal sliding mode control scheme is proposed for a class of uncertain nonlinear systems in strict - feedback form with unknown nonlinearities. The dynamic surface control is combined with the first steps of backstepping method to design the virtual controller. In the - th step, only one neural network functions approximator is adopted to compensate all the unknown nonlinearities, and a adaptive neural network controller based on global fast terminal sliding mode design is obtained. The proposed controller design approach avoids the explosion of complexity in traditional backstepping design, and improves the convergence rate and steady - state tracking accuracy of the system by introducing approximation errors and adaptive compensation of uncertainty bounds to eliminate the errors of modeling and parameter estimation. By theoretical analysis, all the signals in the closed loop systems are guaranteed to be semi - globally uniformly ultimately bounded. Finally, the simulation results validate the effectiveness of the proposed method.关键词
自适应神经网络控制/反推/终端滑模控制/动态面Key words
adaptive neural network control/ Backstepping/ terminal sliding mode control/ dynamic surface control分类
航空航天引用本文复制引用
刘东,武杰,杨朋松..不确定非线性系统的自适应反推终端滑模控制[J].空军工程大学学报（自然科学版）,2012,13(5):14-19,6.基金项目
国家自然科学基金资助项目(60543006) （60543006）
