In this article, a dynamic output feedback based sliding mode learning control is proposed for uncertain mechanical system. After giving the model of uncertain mechanical system, the uncertainty and disturbance of it are discussed and they are assumed to be mismatched. The velocity of the uncertain mechanical system is assumed to be unmeasurable, and then a dynamic output feedback control strategy is utilized here. A dynamic output feedback-based sliding surface is constructed. The parameters of the designed surface are solved by Lyapunov function approach. Then a sliding mode learning controller is proposed for uncertain mechanical system to overcome the chattering of traditional sliding mode control. Finally, a numerical simulation is given to show the effectiveness of the proposed controller.

中文翻译：

---

不确定机械系统的滑模学习控制：一种动态输出反馈方法

在本文中，针对不确定的机械系统，提出了一种基于动态输出反馈的滑模学习控制。在给出了不确定机械系统的模型后，讨论了它的不确定性和扰动，并假设它们是不匹配的。假设不确定机械系统的速度是不可测量的，然后在这里使用动态输出反馈控制策略。构造了一个基于动态输出反馈的滑动面。设计曲面的参数通过李雅普诺夫函数方法求解。然后针对不确定的机械系统提出了一种滑模学习控制器，以克服传统滑模控制的抖动问题。最后，给出了一个数值模拟，以表明所提出的控制器的有效性。