%0 Journal Article
%T Sliding mode control approach with nonlinear integrator<br>非线性积分滑模控制方法
%A LI Peng
%A ZHENG Zhi-qiang
%A <br>李鹏
%A 郑志强
%J 控制理论与应用
%D 2011
%I 
%X A nonlinear integral sliding mode control approach is proposed for a class of uncertain nonlinear systems. To promote the performance of the traditional integral sliding mode control, this approach incorporates a new nonlinear saturation function which enhances small errors and will be saturated with large errors in shaping the tracking errors. While maintaining the tracking accuracy of the traditional integral sliding mode control, this approach provides better transient performances. Using Lyapunov stability theory and LaSalle invariance principle, we prove that the proposed approach ensures the zero steady-state error in the presence of a constant disturbance or an asymptotically constant disturbance. When the control input is constrained, the saturated controller operates like a PD controller with a nonlinear I term. Simulation example is given to demonstrate the effectiveness and robustness of the proposed approach.
%K nonlinear system
%K nonlinear integrator
%K sliding mode control
%K control constraint<br>非线性系统
%K 非线性积分
%K 滑模控制
%K 控制受限
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=6189E8685319A9B07ECD37A99AD0539A&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=38B194292C032A66&sid=65C08888CCE4801E&eid=BA48F0B914ED890A&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=14