不确定离散非线性系统的最优滑模控制

Optimal Sliding Mode Control for Nonlinear Discrete-time Systems

研究无限时域的不确定离散非线性系统的最优滑模控制问题.利用非线性系统的逐次逼近算法,通过求非线性两点边值的迭代解的方法构造最优滑模面.通过构造伴随向量的非线性补偿项,得到了由状态反馈项、输入前馈项和伴随向量形式的非线性补偿项组成的系统最优滑模控制律.讨论了控制器的物理实现.仿真结果表明所提出的控制方法是有效的.

The optimal sliding mode control（OSDC） for nonlinear discrete-＇ime systems with infinite horizon quadratic performance indexes is considered. In the optimal sliding surface designing process, this paper explores the successive approxi- mation approach （SAA）. The OSDC obtained consists of linear analytic functions and a compensation term which is a series sum of adjoint vectors. The results of the simulation show the validity of the approach mentioned.