Adaptive Model Reference Hierarchical Sliding Mode Control of Uncertain Underactuated Systems with Time Delay and Dead-Zone Input

摘要

This paper focuses on a problem of adaptive model reference hierarchical sliding mode control for a class of uncertain underactuated systems with unknown dead-zone and time delay. An incremental hierarchical structure sliding-mode controller (IHSSMC) strategy based on the reference model is presented, which drives the system output to follow the reference model. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions by some adaptive laws. An incremental hierarchical structure sliding-mode controller (IHSSMC) is developed by introducing the incremental hierarchical structure into sliding mode control (SMC) method. By choosing an appropriate Lyapunov–Krasovskii function, the proposed controller is designed to demonstrate that all the signals in the closed-loop system can not only guarantee uniformly ultimately bounded, but also achieve good tracking performance. Finally, some computer simulation results of a practical example are illustrated to verify the effectiveness of the proposed approach.