关键词: Ackermann’s formula, 滑模控制, 类反斜线回滞

Abstract: Hysteresis widely exits in many mechanical control fields. It makes the control for systems with hysteresis difficult and complex, since hysteresis is non-differential. It is necessary to study the effective control of system with hysteresis since hysteresis brings the oscillation, and even instability to the systems. The subject of study focuses on the system with backlash-like hysteresis for the modeling of the systems with hysteresis is still been researching. Model of backlash-like hysteresis is first divided into two parts-certain linear one and uncertain but known-limit nonlinear one, and then a sliding control based on Ackermann’s formula for the kind of systems is presented. The result of simulation shows the control is effective. The control also guarantees the stability of the whole system.

Key words: Ackermann’s formula, Backlash-like hysteresis, Sliding model control