[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(5):53-57.
YAO Li-ping,LIU Guo-dong.Nonsingular Terminal sliding mode control for a class of uncertain nonlinear systems[J].CAAI Transactions on Intelligent Systems,2007,2(5):53-57.
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YAO Li-ping,LIU Guo-dong.Nonsingular Terminal sliding mode control for a class of uncertain nonlinear systems[J].CAAI Transactions on Intelligent Systems,2007,2(5):53-57.
一类非线性不确定系统的非奇异Terminal滑模控制
《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷:
2
期数:
2007年第5期
页码:
53-57
栏目:
学术论文—智能系统
出版日期:
2007-10-25
- Title:
- Nonsingular Terminal sliding mode control for a class of uncertain nonlinear systems
- 文章编号:
- 1673-4785(2007)05-0053-05
- 关键词:
- Terminal滑模控制; 奇异; 非线性系统; Lyapunov稳定性
- 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 econdorder 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 nonsingular 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 nonsingularity term inal sliding mode can elimination the singularity,and also show the feasibility and the effectiveness of the selfadaptive method.
- 参考文献/References:
-
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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