关键词: 控制理论, 快速神经网络干扰观测器, Terminal滑模控制, 有限时间内收敛

Abstract:

To deal with the disturbances of a kind of uncertain nonlinear systems, a dynamic disturbance observer system is constructed. According to this disturbance observer system, a fast neural network disturbance observer is proposed. Based on the observed disturbance error the observer approaches the unknown synthetic disturbance by on-line adjusting its weights. An adaptive terminal sliding mode control is designed based on neural network disturbance. It is strictly proved that the states of a closed system converge to zero within finite time. Therefore the convergence speeds are improved under this scheme. Simulation results demonstrated the effectiveness of the proposed scheme the capability of the observer to approach disturbance.

Key words: control theory, fast neural network disturbance observer, Terminal sliding mode control, finite-time convergence