论文标题
基于障碍功能的自适应连续高阶滑动模式控制器，无界扰动
Barrier Function-Based Adaptive Continuous Higher-Order Sliding Mode Controllers with Unbounded Perturbations
论文作者
论文摘要
在本文中，基于障碍功能的两类连续高阶自适应滑动模式控制器是针对具有无界扰动的集成器的扰动链开发的。这两个类都使用连续的控制信号提供了系统状态与预定域的有限时间收敛。第一类自适应控制器不需要关于扰动的任何假设。但是，它可以提供无界的控制收益。为了确保有界的控制增益，并且在Lipschitz扰动的情况下，开发了第二类自适应控制器，称为自适应高级超级扭转（主机）算法。
In this paper, two classes of continuous higher order adaptive sliding mode controllers based on barrier functions are developed for a perturbed chain of integrators with unbounded perturbations. Both classes provide finite-time convergence of system states to a predefined domain using a continuous control signal. The first class of adaptive controllers does not require any assumptions about the perturbation; however, it can provide unbounded control gains. To ensure bounded control gains, and in the case of a Lipschitz perturbation, a second class of adaptive controllers, called the adaptive higher order Super-Twisting (HOST) algorithm, is developed.
