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首页> 外文期刊>Automatic Control, IEEE Transactions on >Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations
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Integral Sliding Mode Control for Nonlinear Systems With Matched and Unmatched Perturbations

机译：具有匹配和不匹配扰动的非线性系统的整体滑模控制

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摘要

We consider the problem of designing an integral sliding mode controller to reduce the disturbance terms that act on nonlinear systems with state-dependent drift and input matrix. The general case of both, matched and unmatched disturbances affecting the system is addressed. It is proved that the definition of a suitable sliding manifold and the generation of sliding modes upon it guarantees the minimization of the effect of the disturbance terms, which takes place when the matched disturbances are completely rejected and the unmatched ones are not amplified. A simulation of the proposed technique, applied to a dynamically feedback linearized unicycle, illustrates its effectiveness, even in presence of nonholonomic constraints.
机译：我们考虑设计一个集成滑模控制器以减少作用于具有状态依赖漂移和输入矩阵的非线性系统的干扰项的问题。解决了影响系统的匹配干扰和不匹配干扰的一般情况。事实证明，合适的滑动歧管的定义和由此产生的滑动模式可以确保将干扰项完全消除而对不匹配项不进行放大时，将干扰项的影响降至最低。拟议技术的仿真，应用于动态反馈线性化单轮自行车，说明了其有效性，即使存在非完整约束。

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