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针对一类阶非匹配不确定系统,提出一种自适应反步非奇异快速终端滑模控制方法.控制的前n-1步采用自适应反步控制策略,消除非匹配不确定性的影响;最后一步利用误差的积分构造非奇异快速终端滑模面,设计控制律使系统第n个状态有限时间收敛.该方法对系统中匹配和非匹配不确定项均具有鲁棒性,比自适应反步终端滑模方法具有更快的收敛速度.理论分析证明了闭环系统的稳定性,仿真结果验证了该方法的有效性.
For a class of non-matching uncertain systems, an adaptive backstepping non-singular and fast terminal sliding mode control is proposed. The first n-1 step of the control adopts adaptive backstepping control strategy to eliminate the influence of non-matching uncertainty. In the last step, the integral of error is used to construct the non-singular fast terminal sliding-mode surface, and the control law is designed to converge the nth state of the system for a finite time. The proposed method is robust to both the matched and unmatched uncertainties in the system, The step-by-step sliding mode method has a faster convergence rate.The theoretical analysis proves the stability of the closed-loop system, and the simulation results verify the effectiveness of the method.