针对一类存在未知复合扰动的高阶非线性系统, 提出一种基于有限时间干扰观测器的反演非奇异快速终端滑模控制方法。采用有限时间干扰观测器对复合扰动进行快速精确估计并设计控制器鲁棒项进行补偿。采用反演控制处理高阶非线性系统, 结合动态面控制设计虚拟控制律; 同时设计非奇异快速终端滑模控制律, 提高系统的收敛速度和控制精度, 并通过Lyapunov理论证明了系统跟踪误差一致最终有界。通过数值仿真验证了所提控制方法的有效性和可行性。

A backstepping non-singular fast-terminal sliding-mode-control method based on Finite-Time Disturbance Observer (FTDO) was proposed for a class of high-order nonlinear systems with unknown complex disturbances. The unknown complex disturbances was quickly and precisely estimated by FTDO and compensated by the designed robust items of the controller. The backstepping method was employed to deal with the high-order nonlinear system, and the dynamic surface control method was combined with it to design the virtual controller. A non-singular fast-terminal sliding-mode-controller was designed to improve the convergence speed and control accuracy of the system. The tracking error of the system has been proved to be uniform and ultimately bounded by using Lyapunov theorem. Finally, the simulation results demonstrated the effectiveness and feasibility of the proposed control method.