高技术通讯2017，Vol.27Issue(11)：938-947,10.DOI:10.3772/j.issn.1002-0470.2017.11-12.008
二阶非线性不确定系统分段非奇异快速终端滑模控制
Piece-wise nonsingular fast terminal sliding mode control for second-order nonlinear uncertainty systems
摘要
Abstract
The sliding mode control for nonlinear uncertainty systems is studied.Aiming at nonsingular fast terminal slid-ing mode(NFTSM)'s problem of slow convergence near the equilibrium point,a piece-wise nonsingular fast termi-nal sliding mode(PWNFTSM)is proposed.The designed PWNFTSM introduces nonlinear terms to achieve system convergence in a limited time and continuous faster convergence in the local region near the equilibrium point and to avoid singularity by applying the nonlinear terms of classical fast terminal sliding mode(FTSM)structure.Fur-ther, a piece-wise nonsingular fast terminal sliding mode control algorithm based on the radial basis function (RBF)network disturbance observer(RBFNDO)for second-order nonlinear uncertainty systems is designed.The disturbance observer approach can estimate the system uncertainties and disturbances so as to improve the control precision and the robustness.The close-loop system stability can be demonstrated by using the Lyapunov method. Finally,the simulation results verify that the proposed approach can effectively increase the convergence rate,ac-quire higher control precision and achieve superior performance for second-order nonlinear uncertainty systems.关键词
分段非奇异快速终端滑模(PWNFTSM)/径向基函数(RBF)神经网络干扰观测器(RBFNDO)/二阶非线性不确定系统/鲁棒性Key words
piece-wise nonsingular fast terminal sliding mode(PWNFTSM)/radial basis function(RBF) network disturbance observer(RBFNDO)/second-order nonlinear uncertainty systems/robustness引用本文复制引用
张贝贝,高守礼,赵东亚..二阶非线性不确定系统分段非奇异快速终端滑模控制[J].高技术通讯,2017,27(11):938-947,10.基金项目
国家自然科学基金(61473312)资助项目. （61473312）
