不确定非线性系统的弱抖振滑模反演控制

针对一类匹配不确定非线性系统，提出一种弱抖振滑模反演控制策略。系统中的干
扰部分用滑模方法去抑制，使系统具有良好的鲁棒性。由于滑模控制的使用会引起抖振，采用一种非线性干扰观测器，将干扰观测出来，从而大大降低了闭环系统中的总干扰，使滑模控制引起的抖振得以大大降低。基于反演法，给出了系统控制器的设计步骤。仿真结果表明本文提出的控制方法是正确的。
关键词：不确定非线性系统，滑模控制，反演法，抖振
Abstract：A chattering reduction sliding mode control via backstepping scheme is proposed for a class of uncertain nonlinear systems with matched disturbance. The sliding controller is used to deal with the uncertainties. The robust of the systems is guaranteed. A nonlinear disturbance observer is used to observer disturbance. Whole disturbance of the closed-loop systems is reduced. The chattering of sliding controller is reduced clearly. The control scheme is designed using backstepping. The correction of the proposed method is proved by simulation result.
Key Words: uncertain nonlinear systems, sliding control, backstepping, chattering.