%0 Journal Article
%T Sliding mode control with direct self-tuning for a class of nonlinear system with unknown uncertainties<br>未知不确定非线性系统的直接自校正滑模控制
%A Zhang Xi-zheng
%A WANG Yao-nan
%A <br>张细政
%A 王耀南
%J 控制理论与应用
%D 2009
%I 
%X Based on the combination of the direct adaptive control and the sliding-mode control, we present a new robust tracking controller for a class of nonlinear systems with unknown uncertainties. The controller treats the nonlinearity, the parametric uncertainties and the external disturbances as the system uncertainties. Without the boundaries and other information of the uncertainties, the controller and the self-tuning laws for the parameters are designed by using the Lyapunov stability theory. The closed-loop system is robust and asymptotically stable in the sense of the Lyapunov stability. The state trajectories can reach the sliding mode within finite time, eliminating the control input chattering thereafter. Simulation results are presented to verify the feasibility and correctness of the proposed control scheme.
%K sliding mode control
%K direct adaptive control
%K input chattering
%K boundary layer adaptation<br>滑模变结构控制
%K 自适心控制
%K 抖振
%K 边界层调节
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=C7108C5B74F290CECE5F2A79DE579B56&yid=DE12191FBD62783C&vid=96C778EE049EE47D&iid=708DD6B15D2464E8&sid=CDE97535A1E7BEA0&eid=DC165160277F7BE9&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0