论文部分内容阅读
针对一类输入受限的不确定非仿射非线性系统跟踪控制问题,提出一种二阶动态terminal滑模控制策略.在不损失模型精度,并考虑系统输入饱和受限的前提下,给出一种适用于全局的不确定非仿射非线性系统近似方法.提出小波小脑模型干扰观测器设计方法,实现复合扰动的有效逼近.构造辅助系统分析输入饱和对跟踪误差的影响.通过构造基于PI滑模面的terminal二阶滑模面,给出二阶动态terminal滑模控制器设计过程,克服了传统滑模的抖振问题.仿真结果验证了所提出方法的有效性.
Aiming at the tracking control of a class of uncertain nonlinear affine nonlinear systems with input constraints, a second-order dynamic terminal sliding mode control strategy is proposed. Without loss of model accuracy and considering the limited input saturation of the system, An Approximate Method for Uncertain Non-affine Nonlinear Systems Suitable for Global Approximation of Nondeterministic Nonlinear Affine Nonlinear Systems A wavelet interference method for observer design of cerebellar model was proposed to realize the effective approximation of compound perturbations. The structure aided system was used to analyze the influence of input saturation on tracking error. The second-order sliding mode surface of the sliding mode surface is given, and the design process of the second-order dynamic terminal sliding mode controller is given, which overcomes the chattering problem of the traditional sliding mode. The simulation results verify the effectiveness of the proposed method.