%0 Journal Article
%T Sliding mode control approach based on nonlinear integrator<br>采用幂次趋近律的滑模控制稳态误差界
%A LI Peng
%A MA Jian-jun
%A ZHENG Zhi-qiang
%A <br>李鹏
%A 马建军
%A 郑志强
%J 控制理论与应用
%D 2011
%I 
%X For the sliding mode tracking control of a class of uncertain nonlinear systems using power rate reaching law, the steady-state error bounds are respectively derived when using the Slotine-form conventional sliding surface and the integral sliding surface. Mathematical relations among the sliding error bounds, system uncertainties, and parameters of the power rate reaching law are investigated by means of the Lyapunov method. Based on the BIBO stability, the relationship between the steady-state error bounds and the sliding error bounds is obtained. Finally, the mathematical expressions of the steady state tracking error bounds are derived. Moreover, for the specified steady-state error bounds, an appropriate power rate reaching law to suppress the chattering is designed. Simulation results are given and the validity of the conclusions is confirmed.
%K nonlinear system
%K sliding mode control
%K power rate reaching law
%K steady-state error bounds<br>非线性系统
%K 滑模控制
%K 幂次趋近律
%K 稳态误差界
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=EBF7289B0EEBDC9E07C64272E65B24C4&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=94C357A881DFC066&sid=06D504E5261AB652&eid=23F919F7BAF87909&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=15