【摘要】 针对一类具有未知常数控制增益的耦合大系统,根据滑模控制原理,利用多层神经网络的逼近性质,提出了一种直接自适应滑模控制器的设计方案.通过在线调节神经网络的连接权、滑模控制增益,实现了对动态不确定性及建模误差的自适应补偿。利用李亚普诺夫方法,证明了自适应控制系统是全局稳定的,跟踪误差收敛到零。更多还原

【Abstract】 A scheme of adaptive neural network sliding mode control for a class of interconnected systems with unknown constant control gains is proposed in this paper. The design is based on the principle of sliding mode control and the approximation capability of multilayer neural networks. The plant dynamic uncertainty and modeling errors are adaptively compensated by adjusting the weights and sliding mode gains on-line. According to the Lyapunov method, the closed-loop adaptive control system is proven to be globally stable, with tracking errors converging to zero.更多还原