Design of Integral-Based HOSM Controller Under Perturbations of Unknown Magnitudes
针对一类受未知幅度扰动的非线性系统，提出一种基于积分的高阶滑模控制器设计方法，通过构造积分动力学并改进加幂积分器技术，实现扰动抑制，并用李雅普诺夫分析保证稳定性。
This article is committed to the establishment of an integral-based high-order sliding mode (iHOSM) controller for one category of nonlinear systems when confronted with perturbations with unknown magnitudes. A striking characteristic is that an integral dynamics is deftly constructed and then incorporated into the original sliding mode system to dispose of the perturbations of unknown magnitudes. On account of the new sliding mode dynamics, we explicitly introduce a systematic design protocol to dexterously design a new iHOSM controller. This is fulfilled through amending the technique of adding a power integrator. The theoretical justification has been guaranteed by the rigorous Lyapunov analysis. The investigations of two elucidative examples are provided to validate the validity and feasibility of the designed methodology.