控制理论与应用2016，Vol.33Issue(6)：772-778,7.DOI:10.7641/CTA.2016.15102
非线性不确定系统的非奇异快速终端滑模控制
A novel non-singular fast terminal sliding mode control of nonlinear systems with uncertain disturbances
杨晓骞 1李健 1董毅1
作者信息
- 1. 国防科学技术大学航天科学与工程学院，湖南长沙410073
- 折叠
摘要
Abstract
A novel control scheme of non-singular fast terminal sliding mode control (NFTSMC) based on nonlinear disturbance observer (NDO) and back-stepping method is proposed for a class of nonlinear system with multiple uncertain disturbances. The uncertainty of the system can be estimated by nonlinear disturbance observer online. And the back-stepping method is used to deal with high order nonlinear systems with uncertainties. A novel non-singular fast terminal sliding controller is designed for the last step which can promise the finite time convergence and improve the steady state precision. Also, all of the disturbances estimated by the NDO are introduced into the design of virtual control laws in each step to compensate the uncertain disturbances. Under the proposed terminal sliding mode control method, the finite time convergence of all closed-loop signals is guaranteed via Lyapunov analysis. Finally, a simulation example is applied to demonstrate the efficacy of the proposed composite control method.关键词
反步法/终端滑模/非线性干扰观测器/非线性系统鲁棒控制Key words
back-stepping method/terminal sliding-mode/nonlinear observer and filter design/robust control of non-linear systems分类
信息技术与安全科学引用本文复制引用
杨晓骞,李健,董毅..非线性不确定系统的非奇异快速终端滑模控制[J].控制理论与应用,2016,33(6):772-778,7.
