电动舵机的复合自适应非奇异终端滑模控制

非奇异终端滑模控制（NTSMc）能够实现误差的有限时间收敛，但一般NTSMC的控制律采用高增益项来消除系统不确定性的影响，具有较强的保守性．为了降低这种保守性，本文采用复合白适应律对系统的不确定参数进行估计，按照估计值设计复合自适应非奇异终端滑模控制（CANTSMC），对不确定参数引起的系统动态进行补偿．本方案曾经应用于电动舵机，以补偿不确定参数对模型动态性能的影响．本文证明了闭环稳定性，以及输出跟踪误差在有限时间内的收敛性．通过仿真验证了该方法的有效性．

Composite adaptive nonsingular-terminal-sliding-mode-control for electromechanical actuator

Nonsingular-terminal-sliding-mode-control(NTSMC) provides finite time convergence of the errors; however a high gain is usually required to compensate for the system uncertainties. This imposes a conservative condition on the system design. To relax this conservativeness, we apply the composite adaptive law to estimate the uncertain parameters in the system. Based on the estimated values, a composite adaptive nonsingular terminal sliding mode control(CANTSMC) is designed to compensate for the effects caused by the uncertain parameters. This scheme has been applied to an electromechanical actuator to compensate for the effects on the modeled dynamics caused by uncertain parameters. The close-loop stability and the finite-time convergence of the trajectory tracking error are also proved. The effectiveness of the proposed method is validated by simulation.