一类二阶欠驱动系统的自适应有限时间滑模控制
Adaptive Finite-Time Sliding Mode Control for a Class of Second-Order Underactuated Systems
DOI: 10.12677/MOS.2023.122064, PDF,   
作者: 王 蓉, 刘 鑫：四川轻化工大学自动化与信息工程学院，四川 自贡；刘永春：四川轻化工大学自动化与信息工程学院，四川 自贡；人工智能四川省重点实验室，四川 自贡
关键词: 欠驱动系统；分层滑模控制；有限时间控制；RBF神经网络；Underactuated System； Hierarchical Sliding Mode Control； Finite-Time Control； RBF Neural Network
摘要: 基于有限时间稳定性理论和分层滑模控制原理，本文研究了一类具有外部干扰和模型不确定性的二阶欠驱动系统的跟踪控制问题。首先，采用非线性滑模面设计有限时间分层滑模控制器，使得系统达到全局有限时间稳定并且避免了奇异现象。其次，为了提高系统的鲁棒性，采用RBF (Radial Basis Function)神经网络对系统的外部干扰和模型不确定性的上界进行实时逼近以及采用自适应控制设计神经网络更新律。再次，利用Lyapunov稳定性理论和齐次性理论证明系统的渐近稳定性和全局有限时间收敛性。最后，通过仿真结果验证了该控制方法的有效性。
Abstract: Based on finite time stability theory and hierarchical sliding mode control principle, this paper studies the tracking control problem of a second-order underdrive system with external interfer-ence and model uncertainty. Firstly, the nonlinear sliding mode surface is used to design a finite time hierarchical sliding mode controller, which makes the system achieve global finite time stabil-ity and avoids singular phenomenon. Secondly, In order to improve the robustness of the system, the radial basis function (RBF) neural network is used to approximate the upper bounds of the sys-tem’s external disturbance and model uncertainty in real time, and the neural network updating law is designed by adaptive control. Thirdly, Lyapunov stability theory and homogeneity theory are used to prove the asymptotic stability and global finite-time convergence of the system. Finally, the effectiveness of the control method is proved by simulation results.
文章引用：王蓉, 刘永春, 刘鑫. 一类二阶欠驱动系统的自适应有限时间滑模控制[J]. 建模与仿真, 2023, 12(2): 677-688. https://doi.org/10.12677/MOS.2023.122064

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