一种无模型自适应积分终端滑模控制方法

A model-free adaptive integral terminal sliding mode control method

针对一类包含扰动的非线性离散时间系统,提出一种新的无模型自适应离散积分终端滑模控制算法.该算法基于紧格式动态线性化数据模型,利用离散积分终端滑模控制算法设计无模型自适应控制器,并采用扰动估计技术估计系统的扰动项,其中动态线性化方法中"伪偏导数"的估计算法仅依赖于被控系统的I/O测量数据.理论分析证明了系统输入输出有界,并通过仿真实验验证了所提算法的有效性.

A new model-free adaptive digital integral-terminal-sliding-mode control algorithm is proposed for a class of nonlinear discrete-time systems with disturbances. The algorithm uses the discrete integral terminal sliding mode control algorithm to design the model-free adaptive controller based on the compact-format dynamic linearization model.Based on the technique of perturbation estimation to estimate the disturbance term of the system, and pseudo-partial derivatives（PPD） are estimated on-line from the I/O data of the system. The input and output bounded of the system is proved by theoretical analysis, and the validity of the proposed algorithm is verified by simulation experiment.