非匹配不确定系统积分型滑模控制器设计

针对一类非匹配不确定性系统的滑模控制问题,在假设系统不确定性有界约束的情况下,提出了基于Lyapunov稳定的积分型滑模控制方法. 通过引入积分项,构造非匹配不确定系统的切换函数,由滑模运动的可达条件,设计系统的积分型滑模控制器（ISMC）. 采用该方法设计二自由度机械系统的控制系统,并与采用二次型调节器（LQG）的情况相比较,仿真结果表明了积分型滑模控制策略的有效性.

A class of integral-type sliding mode control for unmatched uncertain systems

The problem of sliding mode control for systems with unmatched uncertainties is discussed.An integral sliding mode control(ISMC) technology based on Lyapunov theory is proposed based on the assumption that the uncertainties of the system are bounded by some known function.And the switching function is designed by adding an integral term into the linear sliding surface,and the corresponding controller is derived by realizable condition for the sliding mode conditions.A two-degree-of-freedom mechanical system is used in the study and the performance of the controller is compared to the linear quadratic regulator(LQG).A simulation study is performed to prove the effectiveness and robustness of the control approach.