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针对带有状态输出有界约束的一类不确定仿射非线性系统,提出一种单向辅助面滑模控制器设计方法.该方法通过将状态量的约束条件引入单向辅助面的设计,并利用单向辅助面构成系统状态输出量正不变集的边界,以保证系统状态能够满足状态输出量的约束条件.随后给出了该方法稳定性以及单向辅助面构成正不变集的理论证明,并通过仿真验证了所提出的设计方法的有效性.
Aiming at a class of uncertain affine nonlinear systems with state output bounded constraints, a design method of unidirectional auxiliary surface sliding mode controller is proposed. By introducing the constraints of state quantities into the design of unidirectional auxiliary surfaces, And the one-way auxiliary surface is used to form the invariant set boundary of the system state output to ensure that the state of the system can satisfy the constraints of the state output. Then the stability of the method and the invariant set of unidirectional auxiliary surfaces It is proved by theory and verified by simulation that the proposed design method is effective.