Machine learningNonlinear Control
滑模控制
滑模控制（SMC）是一种鲁棒的非线性控制技术，它通过使用不连续（bang-bang或高频切换）控制输入，强制系统在状态空间中遵循预定的曲面（滑模面）。SMC由Utkin开发并由Slotine进一步发展，对参数变化和扰动具有显著的不敏感性——一旦系统到达滑模面，其行为仅由滑模面几何形状决定，而不受不确定性影响。这使得SMC在鲁棒性至关重要的非线性系统、机械手和不确定系统中表现出色。
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来源
- Utkin, V. I. (1977). Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 22(2), 212-222. DOI: 10.1109/TAC.1977.1101446 ↗
- Slotine, J. J. E. (1984). Sliding controller design for non-linear systems. International Journal of Control, 40(2), 421-434. DOI: 10.1080/00207178408933284 ↗
- Utkin, V. I. (2009). Variable structure systems with sliding modes: A survey. IEEE Transactions on Automatic Control, 22(2), 212-222. DOI: 10.1109/TAC.1977.1101446 ↗
如何引用本页
ScholarGate. (2026, June 3). Sliding Mode Control. ScholarGate. https://scholargate.app/zh/control-theory/sliding-mode-control
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