(源代码)一类匹配不确定非线性系统的动态逆全程滑模变结构控制

本文链接：https://blog.csdn.net/stk10/article/details/60777283

该博客探讨了针对匹配不确定非线性系统的动态逆全程滑模变结构控制策略。通过引用专业文献，深入研究了如何在MATLAB环境下设计此类控制系统。

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参考文献：《一类匹配不确定非线性系统的动态逆全程滑模变结构控制》

clear
clc
H=[5 2 5;
    8 1 7;
    1 1 2];
invH=inv(H);
a11=invH(1,1);
a12=invH(1,2);
a13=invH(1,3);
a21=invH(2,1);
a22=invH(2,2);
a23=invH(2,3);
a31=invH(3,1);
a32=invH(3,2);
a33=invH(3,3);

u=zeros(3,1);
x=zeros(6,1);
Dx=zeros(6,1);

S1=0;
S2=0;
S3=0;
k1=50;
k2=50;
k3=50;

fea1=10;
fea2=10;
fea3=10;

Tf=0.5;

t=0;
Dt=0.001;
n=1;
for i=1:14000
    p1=x(3)*sin(x(6))*cos(x(5))-x(3)*sin(x(6))*sin(x(5))*sin(x(4))-x(3)*cos(x(6))*cos(x(4))+x(2)*sin(x(6))+x(2)*cos(x(6))*sin(x(5));
    p2=-x(1)*sin(x(6))-x(1)*cos(x(6))*sin(x(5))-x(3)*cos(x(6))*cos(x(5))+x(3)*cos(x(6))*sin(x(5))*sin(x(4))-x(3)*sin(x(6))*cos(x(4));
    p3=x(2)*cos(x(6))*cos(x(5))-x(2)*cos(x(6))*sin(x(5))*sin(x(4))+x(2)*sin(x(6))*cos(x(4))-x(1)*sin(x(6))*cos(x(5))+x(1)*sin(x(6))*sin(x(5))*sin(x(4))+x(1)*cos(x(6))*cos(x(4));
    f1=a11*p1+a12*p2+a13*p3;
    f2=a21*p1+a22*p2+a23*p3;
    f3=a31*p1+a32*p2+a33*p3;
    f4=x(1)+x(2)*sin(x(4))*tan(x(5))+x(3)*cos(x(4))*tan(x(5));
    f5=x(2)*cos(x(4))-x(3)*sin(x(4));
    f6=x(2)*sin(x(4))*sec(x(5))+x(3)*cos(x(4))*sec(x(5));
    f=[f1;f2;f3;f4;f5;f6];
    g=[a11 a12 a13;a21 a22 a23; a