带有内动态的离散不确定非线性系统的滑模预测跟踪控制

对于一类带有内动态的单输入-单输出不确定离散非线性系统,基于滑模预测控制技术设计了一个控制器.通过反馈校正和滚动优化技术,可以及时补偿不确定性的影响,提高了匹配和不匹配不确定项的鲁棒性.然后,通过滚动优化技术得到期望的滑模控制律.特别地,通过预测控制,滑模控制的抖振现象可以消除.最后,在不确定项的界未知的情况下,得到闭环系统的所有信号都是有界的,并且跟踪误差是鲁棒稳定的.仿真例子说明所提出控制方法的有效性.

Sliding-mode prediction tracking control for discrete-time uncertain nonlinear systems with internal dynamics

Based on the sliding-mode predictive control (SMPC) technique, a controller for a class of discrete-time nonlinear uncertain single-input-single-output (SISO) systems with internal dynamics is proposed. Due to the feedback correction and receding horizon optimization, the effect of uncertainty can be compensated in time, and the robustness to matched or unmatched uncertainties has been improved. The desired sliding-mode control law is obtained by using the receding horizon optimization subsequently. Especially, the chattering of sliding-mode control (SMC) can be eliminated by predictive control techniques. It is shown that all the signals of the closed-loop systems are bounded and the tracking error is robustly stable, without requiring the boundary knowledge of the uncertainty. Simulation result is given to demonstrate the advantages of the proposed method.