摘要
针对同时存在参数及结构不确定性的一类非线性系统，研究其在未知扰动作用下的输出跟踪问题．基于李亚普诺夫稳定性理论提出了一种直接自适应滑模控制律，讨论了自适应律的收敛性．从理论上证明了闭环系统存在滑动模态，参数估计值收敛，系统信号保持有界．并给出仿真实例．
This article addresses the output tracking control problem of affine
nonlinear systems with uncertainties. A method of direct adaptive sliding mode control against
uncertainties and unknown perturbation based on Lyapunov stabilization theory is proposed. The
convergence of the parameter adapting laws is analyzed. It is proved in theory that the closed
loop tracking system is global asymptotically stable, and all signals are bounded. The results are
illustrated by an example.
出处
《华中理工大学学报》
CSCD
北大核心
1999年第7期26-28,共3页
Journal of Huazhong University of Science and Technology
关键词
变结构控制
自适应控制
不确定性
非线性系统
variable structure control
adaptive control
uncertainties
parameter estimation
nonlinear systems
