自适应反演滑模控制.docVIP

摘 要 滑模变结构控制出现在20世纪中后期，由于变结构系统的滑动模态运动对系统的参数摄动、外界的扰动、不确定模态和模型不确定性具有自适应性，也就是完全鲁棒性，使得滑模控制引起了人们的极大关注。 反演（backstepping）是将复杂的非线性系统分解成不超过系统阶数的子系统，然后为每个子系统分别设计李雅普诺夫函数和中间虚拟控制量，一直后退到整个系统，直到完成整个控制律的设计。本课题与李雅普诺夫型自适应律结合，综合考虑控制律和自适应律，使整个闭环系统满足期望的动静态性能指标。 在本论文中，将滑模变结构控制和基于backstepping设计方法的自适应控制有机结合，实现了以下技术指标： 研究了Backstepping的基本思想和设计方法，并通过仿真实例进行验证。 设计出Backstepping滑模控制器。 设计出自适应Backstepping滑模控制器,使整个闭环系统满足期望的动静态性能指标。 通过MATLAB平台，对实例进行了仿真。仿真结果表明：研究自适应反演滑模控制策略，为一大类不确定非线性系统提供了一种更有效的控制策略。 关键词：滑模变结构，反演控制器，自适应，李雅普诺夫函数 Adaptive Backstepping Sliding Mode Control ABSTRACT The sliding mode variable structure control was brought in the mid-and late 20th century. It is attention-getting because the sliding mode movement of variable structure system holds the adaptability, an ideal robustness, for the change of system parameters, outside disturbance, uncertain mode and model uncertainty of the system. Backstepping algorithm is designed to decompose a complicated nonlinear system to several subsystems with lower orders, and then a Lyapunov function and an interim virtual control variable are respectively designed for each subsystem. The steps of recursive algorithm will continue until the whole control law is worked out. In order to make the whole closed-loop system meet the anticipant stable and dynamic performance indexes, the subject is combined to Lyapunov’s adaptive law, and the control law and adaptive law are also taken into consideration. In this paper, the sliding mode variable structure control is properly combined to adaptive control based on backstepping design and the technical goals are realized as following. The basic ideal and designing method of backstepping are studied and proved through the simulation of practical examples. Backstepping sliding mode controller is developed. Adaptive backstepping sliding mode controller is designed to make the whole closed-loop system meet the anticipant stable and dynamic performance indexes. The simulation of practical examples is carried ou