Design of variable structure control law for the nonlinear system with parameter perturbation

摘要

This paper considers a design method of nonlinear time-variant variable structure control system with uncertainty and parameter perturbation. First, a state-dependant differential Ricatti equation (SDDRE) is given, then a sliding sector is designed with the solution of this SDDRE. Using the sliding sector, a control law is designed such that the system state enters the sliding sector in finite time, and inside the sliding sector a Lyapunov function decreases respect to the system state, system can be stabilized globally and quadratically with the control low. An example is also given to show the validity of theoretical results.