【摘要】 针对传统的ES线性控制器稳定区域窄、鲁棒性差，精度低等问题，提出一种新型的自适应滑模内环控制系统。通过设计自适应律来预测系统不确定性上界，利用李雅普诺夫能量函数对系统进行可行性验证和稳定性分析。同时为了体现自适应滑模控制器的性能搭建了传统线性控制器作对比实验。通过MATLAB仿真实验证明所设计的自适应滑模控制器比线性控制器具有更快的动态响应，而且能够抵抗参数扰动和外界干扰的影响，提高了系统的鲁棒性。更多还原

【Abstract】 A novel adaptive sliding mode inner loop control system is proposed to tackle the problems of narrow stability region, weak robustness, and low accuracy of traditional ES linear controllers.Adaptive laws are designed to estimate the upper bound of system uncertainty and the feasibility and stability of the system are validated and analyzed using Lyapunov energy functions.Additionally, to evaluate the performance of the proposed adaptive sliding mode controller, a conventional linear controller is constructed for comparative experiments.The MATLAB simulation experiments indicate that the designed adaptive sliding mode controller has faster dynamic response than linear controllers, capable of withstanding the impacts of parameter disturbances and external disturbances, thus improving the robustness of the system.更多还原