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针对一类参数半严格反馈形式的非匹配不确定非线性系统,基于反演设计方法和滑模控制技术,研究了其在非匹配未知参数和非参数不确定性下的跟踪控制问题,提出了自适应反演滑模控制策略,实现了不确定非线性系统的鲁棒输出跟踪.本方法允许系统同时存在匹配和非匹配的参数不确定性及非参数不确定性,而且考虑了控制增益的不确定性,通过增益参数的设计还可实现滑模面到达时间的调节,并进一步削弱了抖振.仿真算例验证了理论的有效性.
Aiming at a class of non-matching uncertain nonlinear systems with semi-strict feedback in the form of parameters, the problem of tracking control under non-matching unknown parameters and non-parametric uncertainties is studied based on inversion design method and sliding mode control technique. Adaptive backstepping sliding mode control strategy to realize the robust output tracking of uncertain nonlinear systems.This method allows the system to have both parametric and non-parametric uncertainties of matching and non-matching, and considers the control gain Uncertainty can be achieved by adjusting the parameters of the gain parameters and further reducing the chattering.The simulation results show the validity of the theory.