不确定非线性系统的自适应滑模区域到达控制

In this paper, considering the existence of external disturbances, an adaptive backstepping-based sliding mode region reaching controller is designed for a class of uncertain nonlinear systems in parametric strict-feedback form. The robustness of the system for mismatched uncertainties and unknown disturbances was recovered and strengthened. The designed controller is based on the fusion of the artificial potential field method, adaptive control, backstepping techniques, sliding mode control and the Lyapunov synthesis approach. The control target in the region reaching control technique is created as a desirable spatial region, which sets it apart from the conventional set-point control or position control. The target potential function and new Lyapunov functions are designed with the region control error in mind using the artificial potential field method in order to achieve the goal of region reaching control. The backstepping method can be used to break down large and high-order nonlinear systems into smaller, more manageable subsystems, making the suggested approach more applicable to real-world scenarios. The online estimation of the unknown parameters is obtained by the adaptive method which is combined with the first n-1 steps of the backstepping method. The Lyapunov theorem is utilized to prove the globally asymptotic stability of the closed-loop system, and simulation results are presented to show the effectiveness of the designed controller.