一类具有非匹配不确定项系统的滑模控制器设计.pdfVIP

Vol. 31, No. 5 ACTA AUTOMATICA SINICA September, 2005 Sliding Mode Control Design for a Class of Systems with Mismatched Uncertainties1) XIANG Ji SU Hong-Ye CHU Jian (National Laboratory of Industrial Control Technology, Institute of Advanced Process Control, Zhejiang University, Yuquan Campus, Hangzhou 310027) (E-mail: jxiang@iipc.zju.edu.cn) Abstract A new sliding mode controller design method is proposed for a class of system with mis- matched uncertainties such that the dynamic function restricted on the sliding surface is completely insensitive to the uncertainties. A su?cient and necessary condition which the system possessing this sliding mode controller should satisfy is explicitly presented. The issue of chattering free is also explored. It is concluded that this class of mismatched term does not bring any chattering problem. Finally, a numerical example illustrates the developed method. Key words Sliding mode control (SMC), uncertain system, mismatched uncertainty 1 Introduction In recent years, sliding mode control (SMC) as a powerful control strategy has been widely studied and applied to the linear system with matched uncertainties[1]. But for the system with mismatched uncertainties only a few contributions have been made[2～6]. In this paper the method presented in [2] is explored further and then extended to a class of more general systems. A new su?cient and necessary condition is proposed for the existence of such a sliding surface on which the sliding motion is immune to the mismatched uncertainties. The new condition explicitly indicates the property the mismatched uncertainties should possess. At last, a numerical example demonstrates the e?cacy of the presented results. The notations throughout the