| Adaptive terminal sliding mode control for high-order nonlinear dynamic systems |
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| 作者姓名： | 庄开宇 苏宏业 张克勤 褚健 |
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| 作者单位： | National Lab. of Industrial Control Technology，Institute of Advanced Process Control Zhejiang University，National Lab. of Industrial Control Technology，Institute of Advanced Process Control Zhejiang University，National Lab. of Industrial Control Technology，Institute of Advanced Process Control Zhejiang University，National Lab. of Industrial Control Technology，Institute of Advanced Process Control Zhejiang University Hangzhou 310027，China，Hangzhou 310027，China，Hangzhou 310027，China，Hangzhou 310027，China |
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| 基金项目： | ProjectsupportedbytheNationalOutstandingYouthScienceFoundationofChina (NSFC :6972 5 0 0 5 )andtheZhejiangProvincialNaturalScienceKey
FoundationofChina (ZD990 5 ) |
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| 摘 要： | ＩＮＴＲＯＤＵＣＴＩＯＮＣｏｎｓｉｄｅｒａｂｌｅａｔｔｅｎｔｉｏｎｈａｓｂｅｅｎｆｏｃｕｓｅｄｏｎｔｈｅｃｏｎｔｒｏｌｐｒｏｂｌｅｍｏｆｕｎｃｅｒｔａｉｎｄｙｎａｍｉｃａｌｎｏｎ ｌｉｎｅａｒｓｙｓｔｅｍｓｓｕｂｊｅｃｔｔｏｅｘｔｅｒｎａｌｄｉｓｔｕｒｂａ
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Adaptive terminal sliding mode control for high-order nonlinear dynamic systems |
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| ZHUANG Kai yu,SU Hong ye,ZHANG Ke qin,CHU JianWT.,.BZ.Adaptive terminal sliding mode control for high-order nonlinear dynamic systems[J].Journal of Zhejiang University Science,2003(1). |
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| Authors: | ZHUANG Kai yu SU Hong ye ZHANG Ke qin CHU Jian[WT BZ] |
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| Institution: | ZHUANG Kai yu,SU Hong ye,ZHANG Ke qin,CHU Jian[WT9.,10.BZ] |
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| Abstract: | An adaptive terminal sliding mode control (SMC) technique is proposed to deal with the tracking problem for a class of high order nonlinear dynamic systems. It is shown that a function augmented sliding hyperplane can be used to develop a new terminal sliding mode for high order nonlinear systems. A terminal SMC controller based on Lyapunov theory is designed to force the state variables of the closed loop system to reach and remain on the terminal sliding mode, so that the output tracking error then converges to zero in finite time which can be set arbitrarily. An adaptive mechanism is introduced to estimate the unknown parameters of the upper bounds of system uncertainties. The estimates are then used as controller parameters so that the effects of uncertain dynamics can be eliminated. It is also shown that the stability of the closed loop system can be guaranteed with the proposed control strategy. The simulation of a numerical example is provided to show the effectiveness of the new method. |
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| Keywords: | Terminal sliding mode control Finite time convergence Adaptive laws |
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