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对一类有界的不确定的非线性动态系统 ,提出了一种基于具有连续函数特性的准滑动模态变结构控制的自适应控制方法。该方法在对象参数未知的情况下 ,利用变结构原理来学习在 L yapunov意义下系统的不确定界 ,从而实现对系统参数未知界的估计 ,并确保跟踪误差满足预先给定的性能要求。仿真结果表明该方法是有效的 ,并且使系统的抖振有较大程度的削弱
For a class of bounded uncertain nonlinear dynamic systems, an adaptive control method based on the quasi-sliding mode variable structure control with continuous function is proposed. The method learns the system uncertainties in the sense of L yapunov by using the principle of variable structure under the condition that the object parameters are unknown, so as to estimate the unknown parameters of the system parameters and ensure that the tracking error satisfies the predetermined performance requirements. Simulation results show that this method is effective and weakens the chattering of the system to a great extent