Pseud - sliding mode control in srd is lucubrated , the control law and the switch function of variable - structure control system with sliding mode ( vss ) are designed , the choice of the parameters of pi control and the theory of the combination control are discussed 实验结果表明准滑模变结构控制策略具有良好的动态性能和稳态性能,同时可以削弱传统滑模控制的抖振影响,验证了理论分析和数字仿真的正确性。
The sliding mode variable structure control ( vsc ) catches many researchers " attention extensively because it has distinct and ideal robustness and holds the invariance for the change of system parameters , outside disturbance and uncertainty of the system , and its algorithm is very simple 滑模变结构控制对系统参数的摄振、外界的扰动、系统的不确定性等具有独特、优异的鲁棒性，并且算法简单，一直吸引着诸多学者的研究兴趣。
It can not only eliminate the chattering of sliding model variable structure control and make system have strong robustness against model uncertainties and external disturbance , but can also improve the character of reaching segment and tracking errors converge to a range of zero 不仅消除了滑模变结构控制固有的高频颤动现象，对模型不确定性和外部干扰具有较强的鲁棒性，而且改善了系统到达段的品质，同时跟踪误差可收敛到零的一个邻域内。
Since the presented disturbance was dissatisfied with the matching condition of vscsm , an amendable method was proposed to resolve it in this dissertation , which provide a new method for the application of sliding control on the object dissatisfied with disturbance matching condition 针对干扰不满足滑模变结构控制的匹配条件的情况，作者提出一种有分布干扰存在情况下的滑模控制的改进算法，为滑模控制应用于不满足干扰匹配条件的对象提供一个新的思路。
An sm based identifier is presented to deal with the parameter identification problem for a class of parameter uncertain nonlinear dynamic systems with input nonlinearity . an smc algorithm is employed to ensure the global reaching condition of the sliding mode for the nonlinear system , and an identifier is designed to identify the uncertain parameters of the nonlinear system 论文的主要内容如下：针对一类相对于输入为非线性的系统，设计了滑模变结构控制器保证非线性系统的全局渐近稳定，在此基础上，考虑到系统运行在滑模面上时所具有的特点，提出了一种基于滑模变结构控制的参数辨识方法来辨识非线性系统的未知参数。
This paper discussed the recent trends of the development and research of control laws of vehicle stability ; also analysed the features and limitations of control laws of vehicle stability with non - linear characteristics in the applications of several control systems and theories ; and summarized the feature application of slide - mode theory in control laws of vehicle stability 摘要讨论了近年来车辆稳定性控制策略的研究发展趋势；分析了多种控制方法和理论在解决非线性车辆稳定性控制策略上各自的特点及局限性；总结了滑模变结构控制理论的应用前景。
In addition , we discuss the effects for the errors of system parameters on the discrete sliding mode variable structure control systems that are designed by means of above solution based on the system state forecast , and put forward the variable structure design method with on - line arithmetic , and achieve favorable control effect 还讨论了系统参数误差对按上述的基于预测值方法设计的离散滑模变结构控制系统的影响，提出了采用在线算法的变结构设计方法，达到了良好的控制效果。
At last , based on vehicle side - slip angle and yaw rate , 3 different kinds of vehicle handling stability controller are designed using variable structure control with sliding mode theory . at simulink simulation flat , do simulation experiment of the concept car model with the direct yaw moment control and without control ; and which control strategy should be apply in different specifically vehicle working conditions , how the vehicle velocity , steer characteristic , control parameters etc . impact the control quality have been studied 最后,运用滑模变结构控制理论,基于质心侧偏角和横摆角速度这两个控制变量分别提出三种具有针对性的控制策略,在simulink仿真平台上,对带有汽车稳定性控制器和不带汽车稳定性控制器的车辆模型进行了仿真研究;对不同工况下汽车稳定性控制策略的具体应用及车速、转向特性和控制参数等因素对控制品质的影响进行了研究。
The dissertation refers to comparatively full literatures in the field of vsc , and the development history and characteristics of vsc are summarized , and the elementary concepts , elementary definitions , elementary properties , elementary principles and design methods are particularly introduced , and the causes of the chattering phenomenon are systematically analysed , and the study status of the chattering phenomenon and the main methods to eliminate the chattering are elaborated . for the deficiencies of traditionary methods , three improved methods are developed , which are improved exponent reaching law solution , variable boundary layer solution and the solution by adding an auxiliary continuous control term . for uncertain linear systems , an adaptive fuzzy integral variable structure control stategy ( afivsc ) is put forward to eliminate the chattering around the sliding plane , which introduces fuzzy logic to soften the non - linear discontinuous sig nal in the control variable and utilizes adaptive theory to adjust output membership function according to how much the uncertainty of the system is 比较全面地查阅了关于变结构控制理论的文献，总结了滑模变结构控制的发展历史和特点，详细介绍了变结构控制的基本概念、基本定义、基本性质、基本原理以及设计方法；系统分析了变结构控制系统抖振产生的机理，并阐述了国内外目前对抖振问题的研究现状以及消除抖振的主要方法；针对传统抑制和消除抖振方法的不足，改进了传统方法，得到了三种新的消除抖振的方法? ?即改进的指数趋近律法、可变边界层法和附加连续项法；针对不确定性线性系统，在变结构控制策略中引入模糊逻辑和自适应理论来消除滑动平面上的抖振，提出了一种自适应模糊积分变结构控制方案( afivsc ) ，利用模糊逻辑来柔化控制量中非线性不连续部分，采用自适应理论，根据系统不确定性大小在线调整模糊输出量的隶属函数，另外，鉴于模糊控制本质上是有静差的，所以本文选择了带积分项的切换函数，由于积分项的存在使系统较正为无静差系统。
