一类未知MIMO非线性离散系统的改进自适应准滑模解耦控制

针对一类带有外部扰动的未知MIMO非线性离散系统,提出一种新型自适应准滑模控制算法.该算法基于非参数动态线性化技术,运用高阶滑模控制的思想实现带有扰动系统的二阶准滑模控制.同时,利用扰动解耦技术,在控制器的设计中引入离散扩张状态观测器(DESO)对系统各回路间的耦合以及数据模型的未建模动态进行补偿,以进一步实现多变量系统的解耦,提升控制品质.理论分析和仿真结果说明了所提出方法的有效性和可行性.

Improved adaptive quasi-sliding mode decoupling control for a class of unknown MIMO nonlinear discrete-time systems

A novel adaptive quasi-sliding mode control approach is proposed for a class of unknown MIMO nonlinear discrete-time systems with external disturbance. The nonparametric dynamic linearization technique is utilized in the controller design. By applying the high order sliding mode control strategy, the second order quasi-sliding mode control for this disturbance system is realized. Furthermore, according to the disturbance decoupling technique, a discrete extended state observer(DESO) is introduced into the controller design to compensate the couplings and unmodelled dynamics of the established data model, and then to realize the decoupling control and improve the control performance. Finally, theoretical analysis and simulation results show the feasibility and effectiveness of the proposed method.