Robust Adaptive Backstepping Sliding Mode Control for a Class of Uncertain Nonlinear System

摘要

For a class of non-strict feedback nonlinear system, a new sliding mode variable structure control (SMVSC) combined with backstepping method is proposed. The unknown uncertainties of the system are estimated online by the fuzzy logic system (FLS). And in the design of backstepping method the nonlinear command filter is used to differentiate the virtual control signals, which avoids the complexity expansion in the backstepping iterative process. The sliding surface was designed using the backstepping method. And this article proposes a new class of fuzzy adaptive backstepping sliding mode control strategies. The system proved to be stable using the Lyapunov function and all the system's signals are bounded. Finally, the simulation results of numerical simulation examples further illustrate that the new control strategies have better control effect.