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对一类串级不确定非线性系统提出了一种基于 SDRE控制的最优滑模控制方法 .该方法采用两环控制结构 ,外环控制器的设计采用基于依赖状态的 Riccati方程最优控制 ,用以产生最优滑模面 .内环控制器设计采用滑动模控制以减小控制系统对参数变化、模型误差、外部干扰的敏感 .同时提出了两种求解依赖于状态的 Riccati方程的方法 ,所设计的最优滑模控制器能使串级不确定系统具有鲁棒稳定性 .最后通过一个仿真算例 ,验证了该控制方法的有效性 .
An optimal sliding mode control method based on SDRE control is proposed for a class of cascade uncertain nonlinear systems. The proposed method uses a two-loop control structure. The design of the outer loop controller adopts the optimal control based on the Riccati equation, Which is used to generate the optimal slip surface.The inner loop controller is designed with sliding mode control to reduce the sensitivity of the control system to parameter variation, model error and external disturbance.At the same time, two solutions to the Riccati equation dependent on state are proposed, The optimal sliding mode controller is designed to make the cascade uncertain system robust and robust. Finally, a simulation example is given to verify the effectiveness of the proposed control method.