In this paper, a class of uncertain nonlinear systems is investigated and a sliding mode control (SMC) design is presented. The method is proposed for uncertain systems with model uncertainties, nonlinear dynamics and external disturbances. Using nominal system and related bounds of uncertainties, a chattering alleviating scheme is also proposed, which can ensure the robust SMC law. The performance and the significance of the controlled system are investigated under variation in system parameters and also in presence of an external disturbance. The simulation results indicate that performance of the proposed controller is effective compared to the existing controllers.

中文翻译：

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具有减振方案的不确定非线性系统的鲁棒滑模控制

在本文中，研究了一类不确定的非线性系统，并提出了一种滑模控制（SMC）设计。该方法适用于具有模型不确定性、非线性动力学和外部扰动的不确定系统。利用标称系统和相关的不确定性界，还提出了一种消除颤振的方案，可以保证SMC 律的鲁棒性。在系统参数变化以及存在外部干扰的情况下，研究了受控系统的性能和重要性。仿真结果表明，与现有控制器相比，该控制器的性能是有效的。