一种非线性连续预测变结构控制方案

A variable structure control scheme based on nonlinear continuous predictive controller

提出了一种非线性连续预测变结构控制方案，将非线性连续预测控制与滑模变结构控制结合起来。其控制器由针对对象标称非线性模型设计的连续预测控制器和针对对象不确定性设计的滑模变结构控制器组成。所提出的方案既具有变结构控制鲁棒性强的优点，又由于连续模型预测控制的引入使得变结构控制的“抖振”大大减小。应用于二自由度机械手轨迹跟踪控制，仿真结果表明了所提控制方案的有效性。

A variable structure control scheme based on nonlinear continuous predictive controller is presented, which combines nonlinear continuous predictive control (NCPC) with sliding mode variable structure control (SMVSC). The controller consists of NCPC designed for plant nominal model and SMVSC designed for plant uncertainty. The proposed scheme is highly robust as SMVSC, and lessen the chattering of SMVSC because of the introduction of NCPC. Applying the scheme to the trajectory tracking of robot manipulator with two-degree-of-freedom, the simulation shows the proposed scheme is very effective.