針對一類匹配不確定非線性系統(tǒng)，提出一種弱抖振滑模反演控制策略。系統(tǒng)中的干
擾部分用滑模方法去抑制，使系統(tǒng)具有良好的魯棒性。由于滑模控制的使用會引起抖振，采用一種非線性干擾觀測器，將干擾觀測出來，從而大大降低了閉環(huán)系統(tǒng)中的總干擾，使滑模控制引起的抖振得以大大降低。基于反演法，給出了系統(tǒng)控制器的設計步驟。仿真結果表明本文提出的控制方法是正確的。
關鍵詞：不確定非線性系統(tǒng)，滑模控制，反演法，抖振
Abstract：A chattering reduction sliding mode control via backstepping scheme is proposed for a class of uncertain nonlinear systems with matched disturbance. The sliding controller is used to deal with the uncertainties. The robust of the systems is guaranteed. A nonlinear disturbance observer is used to observer disturbance. Whole disturbance of the closed-loop systems is reduced. The chattering of sliding controller is reduced clearly. The control scheme is designed using backstepping. The correction of the proposed method is proved by simulation result.
Key Words: uncertain nonlinear systems, sliding control, backstepping, chattering.