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Volume 50 Issue 8
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Journal of Beijing University of Aeronautics and Astronautics  > 2024  >  50(8): 2482-2491.
SUN X M，MA X，LIU Y，et al. Adaptive sliding mode region reaching control for uncertain nonlinear systems[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（8）：2482-2491 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0647
Citation: SUN X M，MA X，LIU Y，et al. Adaptive sliding mode region reaching control for uncertain nonlinear systems[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（8）：2482-2491 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0647
shu

Adaptive sliding mode region reaching control for uncertain nonlinear systems

doi: 10.13700/j.bh.1001-5965.2022.0647
  • 1.

    Shanghai Engineering Research Center of Hadal Science and Technology，College of Engineering Science and Technology，Shanghai Ocean University，Shanghai 201306，China

  • 2.

    Key Lab of Intelligent Information Processing，Fudan University，Shanghai 200433，China

  • 3.

    School of Instrumentation and Optoelectronic Engineering，Beihang University，Beijing 100191，China

  • 4.

    School of Electronic and Electrical Engineering，Shanghai University of Engineering Science，Shanghai 201620，China

Funds:  National Natural Science Foundation of China (61873196); The Fundamental Research Funds for the Central Universities (YWF-23-L-826); Open Research Program of Shanghai Key Lab of Intelligent Information Processing (IIPL201904); Development of Science and Technology Foundation of Shanghai Ocean University (A2-2006-21-200207); Science and Technology Innovation 2030-Quantum Communication and Quantum Computer Major Projects (2021ZD0303400); Open Fund of Key Laboratory of High Performance Ship Technology (GXNC23052801)
More Information
  • Corresponding author: E-mail：maxin@buaa.edu.cn
  • Received Date: 27 Jul 2022
  • Accepted Date: 14 Jul 2023
    • Available Online: 23 Dec 2023
  • Publish Date: 19 Dec 2023
    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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