一类含有非线性项的不确定系统的有限时间输出跟踪控制

摘要

Finite-time output tracking control problem for a class of uncertain systems with nonlinear is investigated in this paper. Firstly, the sliding control law for a class of uncertain systems with nonlinear is proposed by variable structure control theory, guaranteeing the trajectories of the auxiliary system to arrive at the fast terminal switching surface in finite time interval and be kept here thereafter; Secondly, the sufficient condition for finite-time stability of the auxiliary system is presented, making the output of the system follow the given reference model in finite time. A simulation example is presented to verify the validity of the proposed method.%讨论了一类含有非线性项的不确定系统的有限时间输出跟踪控制问题.首先,采用变结构控制理论,给含有非线性项的不确定系统设计了滑模控制率,使辅助系统状态在有限时间到达切换面并维持在切换面上运动；其次,给出了辅助系统有限时间稳定的充分条件,使系统输出有限时间跟踪参考模型输出信号.最后,通过数值算例演示了该方法的可行性及有效性.