针对一类参数不确定非线性系统的增益调度变结构跟踪控制,以切换函数作为调度变量,同时考虑系统稳态误差的指标要求,对滑动平面系数、边界层厚度以及控制器系数进行调度,得到了一种新型的增益调度变结构控制策略.不仅消除了系统颤振,减少了系统能耗,提高了系统的控制性能,使得系统能够快速进入并获取稳定的滑动模态,而且使跟踪系统能够满足稳态误差指标的要求.仿真算例验证了所提控制策略的有效性.%The gain-scheduling variable structure tracking control for a class of nonlinear systems with uncertainties is studied. A new controller is proposed which uses the switch function to schedule the sliding mode, the layer and the approach rate. Based on the new control rule, the control system can improve the control performance, such as restraining the chattering, decreasing the cost of the control power, and keeping a allowable stable error. The simulation results demonstrate the effectiveness of the proposed approach.
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