基于干扰观测器的非线性不确定系统自适应滑模控制于靖.pdf

31 8 Vol. 31 No. 8 2014 8 Control Theory Applications Aug. 2014 DOI: 10.7641/CTA.2014.30920 , , (, 210016) : . , , , . , . , , , . : ; ; ; ; : TP273 : A Adaptive sliding mode control for nonlinear uncertain systems based on disturbance observer YU Jing, CHEN Mou , JIANG Chang-sheng (College of Automation Engineering, Nanjing Aeronautic and Astronautic University, Nanjing Jiangsu 210016, China) Abstract: A boundary layer adaptive sliding-mode controller is developed for a class of multi-input and multi-output (MIMO) nonlinear uncertain systems based on the nonlinear disturbance observer (NDO). The developed adaptive sliding- mode controller has been applied to the high-precision attitude control for near space vehicles. Considering the system uncertainty and the unknown upper bound of the external disturbance, we design the boundary layer adaptive sliding-mode control scheme for eliminating the chattering phenomenon appeared in the traditional sliding-mode control and making the tracking error to approach zero. The rigorous stability of the closed-loop system is proved by using the Lyapunov method. Finally, simulation results demonstrate that the proposed control scheme can achieve good control performances for the attitude control of the near space vehicle under the unknown disturbance and the system uncertainty. Key words: near-space vehicle; nonlinear control; disturbance observer; sliding model control; boundary layer control 1 (Introduction) , [1] (near-space vehicle, NSV) , ,