不确定非线性系统的高阶滑模控制器设计-控制理论与应用.PDF

27 5 Vol. 27 No. 5 2010 5 Control Theory Applications May 2010 : 1000−8152(2010)05−0563−07 1,2 1 1 , , (1. , 100081; 2. , 100081) : SISO, , , . , . , . : ; ; ; : TP273 : A Higher-order sliding-mode controller for a class of uncertain nonlinear systems 1,2 1 1 CHEN Jie , LI Zhi-ping , ZHANG Guo-zhu (1. School of Automation, Beijing Institute of Technology, Beijing 100081, China, 2. Education Ministry Key Laboratory of Complex Systems Intelligent Control and Decision, Beijing Institute of Technology, Beijing 100081, China) Abstract: A novel design method of higher-order sliding-mode controller is proposed for a class of uncertain nonlinear SISO systems, which is based on the finite-time stability theory and integral sliding-mode control theory and avoids some shortcomings of existing higher-order sliding-mode controllers. The integral sliding-mode guarantees the disturbance- rejection ability for the system at the initial time. Meanwhile, the output-feedback control is realized by employing a finite-time stable observer. Simulation results show that this controller drives the system to converge in finite time and alleviates the chattering phenomena effectively. Key words: higher-order sliding-mode control; finite-time stability; integral sliding-mode control; finite-time conver- gent observer 1 (Introduction) [7,8], . [1∼3]