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针对滑模控制中不确定上界值的问题,提出了一种基于LSSVM自适应上界学习的滑模控制方法。首先将系统分为确定部分和不确定部分,对确定部分采用状态反馈法进行控制,对不确定系统部分采用最小二乘支持向量机(LSSVM)来完成。该控制器不仅可以保证非线性不确定系统渐近稳定,降低一般滑模控制理论分析的条件,还有效地抑制了抖振。仿真实例表明该设计方法正确有效。
Aiming at the problem of uncertain upper bound in sliding mode control, a sliding mode control method based on LSSVM adaptive upper bound learning is proposed. Firstly, the system is divided into the deterministic part and the indefinite part, the deterministic part is controlled by the state feedback method, and the least squares support vector machine (LSSVM) is used for the uncertain system part. The controller can not only ensure the asymptotic stability of nonlinear uncertain systems, reduce the theoretical analysis of general sliding mode control conditions, but also effectively suppress chattering. Simulation examples show that the design method is correct and effective.