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首页> 外文期刊>International Journal of Modelling, Identification and Control >A chattering-free adaptive second-order non-singular fast terminal sliding mode control scheme for a class of nonlinear uncertain systems
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A chattering-free adaptive second-order non-singular fast terminal sliding mode control scheme for a class of nonlinear uncertain systems

机译：一类非线性不确定系统的无颤动自适应二阶非奇异快速终端滑模控制方案

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摘要

In this paper, an adaptive second-order non-singular fast terminal sliding mode (SONFTSM) control scheme is proposed so as to achieve finite-time stability with chattering-free control inputs for a class of nonlinear uncertain systems. Instead of the traditional control input in primitive sliding mode switching control design, the real control input is the time integration of the designed derivation of control input with discontinuous terms such that the chattering phenomenon can be reduced. An integral terminal sliding mode (ITSM) and a non-singular fast terminal sliding mode (NFTSM) are applied into the equivalent control design such that finite-time convergence of system states can be guaranteed when it moves on a sliding surface. Then, an adaptive method is utilised to estimate the unknown upper bound of the lumped uncertainty caused by modelling error and external disturbance. The stability analysis of closed-loop system can be demonstrated by constructing Lyapunov candidate function. Finally, the simulation results verify the effectiveness of proposed control scheme.
机译：提出了一种自适应二阶非奇异快速终端滑模（SONFTSM）控制方案，以实现一类非线性不确定系统的无抖动控制输入的有限时间稳定性。代替原始滑模切换控制设计中的传统控制输入，真正的控制输入是具有不连续项的控制输入的设计推导的时间积分，从而可以减少颤振现象。等效控制设计中采用了积分终端滑模（ITSM）和非奇异快速终端滑模（NFTSM），从而可以确保在滑动面上移动时系统状态的有限时间收敛。然后，利用自适应方法来估计由建模误差和外部干扰引起的总不确定度的未知上限。通过构造李雅普诺夫候选函数可以证明闭环系统的稳定性。最后，仿真结果验证了所提控制方案的有效性。

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