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摘要:
针对一类参数严格反馈型不确定非线性系统,考虑存在外界干扰的情况下,设计一种基于反推方法的自适应滑模区域到达控制器,提高系统对非匹配不确定性及未知干扰的鲁棒性。与传统的设定点控制或位置控制不同,区域到达算法的控制目标是一个以期望点为中心的目标区域。所设计控制器综合了人工势场法、自适应控制、反推技术、滑模控制和Lyapunov方法。利用人工势场法设计目标势能函数,将区域误差引入势能函数中,结合Lyapunov方法,可以实现对目标区域的到达跟踪控制。采用基于反推的区域控制思想,将高阶整体模型分解为低阶子系统,并分别设计相应的滑模面,同时在前
n -1步中结合自适应律,能够在线估计非线性系统的不确定参数项,增加所设计控制器的适用性。基于Lyapunov理论证明闭环系统的全局渐近稳定性,仿真结果表明:所设计控制器有效。Abstract:In this paper, considering the existence of external disturbances, an adaptive backstepping-based sliding mode region reaching controller is designed for a class of uncertain nonlinear systems in parametric strict-feedback form. The robustness of the system for mismatched uncertainties and unknown disturbances was recovered and strengthened. The designed controller is based on the fusion of the artificial potential field method, adaptive control, backstepping techniques, sliding mode control and the Lyapunov synthesis approach. The control target in the region reaching control technique is created as a desirable spatial region, which sets it apart from the conventional set-point control or position control. The target potential function and new Lyapunov functions are designed with the region control error in mind using the artificial potential field method in order to achieve the goal of region reaching control. The backstepping method can be used to break down large and high-order nonlinear systems into smaller, more manageable subsystems, making the suggested approach more applicable to real-world scenarios. The online estimation of the unknown parameters is obtained by the adaptive method which is combined with the first
n -1 steps of the backstepping method. The Lyapunov theorem is utilized to prove the globally asymptotic stability of the closed-loop system, and simulation results are presented to show the effectiveness of the designed controller. -
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