CAJ | 학술논문

针对滑模控制对非匹配不确定性系统的控制问题，提出了滑模/无模型自适应控制算法。通过滑模控制方法对系统的标称部分及匹配部分进行控制，对于非匹配不确定性部分，以滑模控制器的输出与系统期望输出的误差作为无模型自适应控制器的输入，通过无模型自适应方法来减少未建模不确定性对系统控制的影响。该方法对系统中匹配和非匹配不确定项均具有鲁棒性，比传统滑模控制及无模型自适应方法具有更快的收敛速度。理论分析证明了系统的稳定性，仿真结果验证了该方法的有效性。
침대활모공제대비필배불학정성계통적공제문제，제출료활모/무모형자괄응공제산법。통과활모공제방법대계통적표칭부분급필배부분진행공제，대우비필배불학정성부분，이활모공제기적수출여계통기망수출적오차작위무모형자괄응공제기적수입，통과무모형자괄응방법래감소미건모불학정성대계통공제적영향。해방법대계통중필배화비필배불학정항균구유로봉성，비전통활모공제급무모형자괄응방법구유경쾌적수렴속도。이론분석증명료계통적은정성，방진결과험증료해방법적유효성。
In view of the sliding mode control problem in the uncertain system with unmatched time-varing uncertainties, an adaptive control algorithm based on sliding model/model-free method is proposed. The nominal system is controlled by slide mode controller in the uncertain system. In order to reduce the influence of unmatched uncertainties, the error caused by the output of the slide model and the system expected output is taken as the control input of the model free method. The motor speed of this control method can reach the given value more rapidly than that of a general slide-mode control and model-free method. Mathematics and the simulation results prove the good system stability and the effectiveness of this algorithm.