控制理论与应用2017，Vol.34Issue(2)：179-187,9.DOI:10.7641/CTA.2017.60504
基于干扰观测器的一类不确定非线性系统自适应二阶动态terminal滑模控制
An adaptive second order terminal sliding mode control for a class of uncertain nonlinear systems using disturbance observer
摘要
Abstract
A robust adaptive second order terminal sliding mode control method,based on recurrent perturbation fuzzy neural networks disturbance observer (RPFNNDO),is proposed for a class of uncertain nonlinear systems which exist the modeling error,parameter uncertainty and external disturbance aiming at tracking performance and strong robustness.Firstly,to have better approximation ability,RPFNNDO is presented to approximate the unknown disturbance in the systems,which combines the advantages of the recurrent networks,fuzzy neural networks and sine-cosine function.Then,in order to overcome the chattering problem in traditional sliding mode,the design process of second-order dynamic terminal sliding mode controller is given by constructing global sliding mode surface based on fast terminal sliding mode surface.At the same time,an exponential robust term can offset the impact of the approximation errors for the systems.And the stability of the closed-loop system is proved by the Lyapunov theory.Finally,the method is applied to control the chaotic synchronization of gyro systems.The results show that the proposed method is effective.关键词
非线性系统/二阶动态terminal滑模控制/自适应控制/干扰观测器/模糊神经网络Key words
nonlinear system/second order dynamic terminal sliding mode control/adaptive control/disturbance observer/fuzzy neural networks分类
信息技术与安全科学引用本文复制引用
张强,袁铸钢,许德智..基于干扰观测器的一类不确定非线性系统自适应二阶动态terminal滑模控制[J].控制理论与应用,2017,34(2):179-187,9.基金项目
国家自然科学基金项目(61403161,61503156),山东省自然科学基金项目(ZR2012FQ030),济南大学博士基金项目(XBS1459)资助.Supported by National Natural Science Foundation of China (61403161,61503156),Natural Science Foundation of Shandong Province (ZR2012FQ030) and Doctoral Foundation of University of Jinan (XBS1459). （61403161,61503156）
