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中文摘要：
研究多输入通道的参数摄动和外部扰动对控制系统输入输出和内部状态稳定性的影响.采用两次模型变换实现输入输出和内部状态解耦,运用Lyapunov稳定定理建立系统收敛区域与不确定项范围的数学关系.提出一种平滑非奇异终端滑模控制方法,引入虚拟控制项以增加系统的相对阶,利用鲁棒微分器合理提取微分信号,实现系统的无抖振滑模控制.仿真研究表明了所提出方法的有效性.
英文摘要：
The stability of input-output and internal states of multi-input systems with parameter perturbations and external disturbance is investigated. Two model transformations are adopted to realize the decomposition of input-output and internal states. By using the Lyapunov stability theory, the mathematical relationship between the convergence region and the uncertainties is formulated. A smooth nonsingular terminal sliding mode control method is proposed. The virtual control item is introduced to increase the relative order, and the robust differentiator is used to get derivative, so that the free-chattering sliding mode control is realized. Simulation results show the effectiveness of the proposed method.
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