[1]姚丽萍,刘国栋.一类非线性不确定系统的非奇异Terminal滑模控制[J].智能系统学报,2007,2(05):53-57.
 YAO Li-ping,LIU Guo-dong.Nonsingular Terminal sliding mode control for a class of uncertain nonlinear systems[J].CAAI Transactions on Intelligent Systems,2007,2(05):53-57.
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一类非线性不确定系统的非奇异Terminal滑模控制(/HTML)
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第2卷
期数:
2007年05期
页码:
53-57
栏目:
学术论文—智能系统
出版日期:
2007-10-25

文章信息/Info

Title:
Nonsingular Terminal sliding mode control for a  class of uncertain nonlinear systems
文章编号:
1673-4785(2007)05-0053-05
作者:
姚丽萍刘国栋
江南大学通信与控制工程学院,江苏无锡214122
Author(s):
YAO Li-pingLIU Guo-dong
Department of Communication and Control Engineering, Southern Yangtze University , Wuxi 214122,China
关键词:
Terminal滑模控制奇异非线性系统Lyapunov稳定性
Keywords:
Terminal sliding mode control singularity nonlinear systems Lyapunov stabilit y
分类号:
TP273
文献标志码:
A
摘要:
针对一类二阶非线性系统提出新的Terminal滑模控制面以克服传统的Terminal 滑模控制的奇异问题,同时确保系统从任何初始状态能在有限时间内收敛至平衡点.进一步考虑系统参数摄动和外界扰动等不确定性因素上界的未知性,用Lyapunov 稳定性方法给出了一个带有未知性上界参数估计的自适应非奇异Terminal滑模控制(NTSM)控制.最后通过实例比较三种滑模控制方法,仿真结果验证了非奇异Terminal滑模控制能克服传统的Terminal滑模控制的奇异问题,并说明了自适应非奇异Terminal滑模控制的有效性和可行性.
Abstract:
This paper presents a new Terminal sliding mode control surface for a class of s econdorder nonlinear uncertain systems to eliminate the singularity problem in conventional terminal sliding mode controls, so that the system can be guarantee d to converge to an equilibrium point from any initial state within a finite tim e in the phase of sliding mode motion. To deal with the upper bounds of uncertai nties such as systematic parameter perturbations and external disturbances, an a daptive nonsingular Terminal sliding mode (NTSM) control with parametric estim a tion for uncertain upper bounds was derived using Lyapunov stability theory .The simulation results of an example are investigated to show nonsingularity term inal sliding mode can elimination the singularity,and also show the feasibility and the effectiveness of the selfadaptive method.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2007-04-08.
作者简介:
姚丽萍,女,1978年生,硕士研究生,主要研究方向为机器人技术. 
E-mail:xiziyidi@hotmail.com.
刘国栋,男,1950年生,教授,硕士生导师,主要研究方向为人工智能与机器人,在国内外期刊发表论文20余篇.
更新日期/Last Update: 2009-05-08