中文摘要：

针对一类高维不确定多变量系统,提出一种高阶非奇异终端滑模分解控制方法。通过两次非奇异状态变换,首先将系统分解为输入输出子系统和内部子系统。针对输入输出子系统,巧妙结合高阶滑模和非奇异终端滑模,基于跟踪微分器技术,设计了一种新型的高阶非奇异终端滑模控制器,可提高子系统的收敛速度,消除滑模控制的高频抖振信号,同时将内部子系统变为零动态子系统。针对零动态子系统,通过配置极点保证子系统状态依次渐近收敛到零,从而最终实现整个系统的鲁棒递阶控制。仿真结果验证了所提方法的有效性。

英文摘要：

A high-order non-singular terminal sliding mode decomposed control method is proposed for a class of high-dimension uncertain multivariable system.The system is firstly decomposed into an input-output subsystem and an internal subsystem by two times non-singular state transformations.Combined with non-singular terminal sliding mode,high-order sliding mode and tracking differentiator technology,a novel high-order non-singular terminal sliding mode controller is designed for the input-output subsystem,to improve subsystem＇s convergence rate,eliminate high-frequency chattering,as well as to change the internal subsystem into zero dynamic subsystem.For the zero dynamic subsystem,eigenvalues are configured to make subsystem＇s states converge to zeroes asymptotically and in turn.Finally,the whole system realizes robust hierarchical control.The simulation results are presented to validate the design.