A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining...A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining feedback correction and receding horizon optimization methods which are extensively applied on predictive control strategy, a discrete-time variable structure control law is constructed. The closed-loop systems are proved to have robustness to uncertainties with unspecified boundaries. Numerical simulation and pendulum experiment results illustrate that the closed-loop systems possess desired performance, such as strong robustness, fast convergence and chattering elimination.展开更多
In this paper,a predictive sliding mode control method based on multi-sensor fusion is proposed to solve the problem of insufficient accuracy in trajectory tracking caused by actuator delay.The controller,based on the...In this paper,a predictive sliding mode control method based on multi-sensor fusion is proposed to solve the problem of insufficient accuracy in trajectory tracking caused by actuator delay.The controller,based on the kinematics model,uses an inner and outer two-layer structure to achieve decoupling of position control and heading control.A reference positional change rate is introduced into the design of controller,making the automatic guided vehicle(AGV)capable of real-time predictive control ability.A stability analysis and a proof of predictive sliding mode control theory are provided.The experimental results show that the new control algorithm can improve the performance of the AGV controller by referring to the positional change rate,thereby improving the AGV operation without derailing.展开更多
基金This work is supported by the National Natural Science Foundation of China (No.60421002) Priority supported financially by the New Century 151 Talent Project of Zhejiang Province.
文摘A new variable structure control algorithm based on sliding mode prediction for a class of discrete-time nonlinear systems is presented. By employing a special model to predict future sliding mode value, and combining feedback correction and receding horizon optimization methods which are extensively applied on predictive control strategy, a discrete-time variable structure control law is constructed. The closed-loop systems are proved to have robustness to uncertainties with unspecified boundaries. Numerical simulation and pendulum experiment results illustrate that the closed-loop systems possess desired performance, such as strong robustness, fast convergence and chattering elimination.
基金This work was supported by the National Natural Science Foundation of China(Grant Nos.61903241,61304223,61603191,61873158,61573237)the China Postdoctoral Science Foundation(Grant No.2018M630424)the Natural Science Foundation of Shanghai Municipality(Grant No.18ZR1415100).
文摘In this paper,a predictive sliding mode control method based on multi-sensor fusion is proposed to solve the problem of insufficient accuracy in trajectory tracking caused by actuator delay.The controller,based on the kinematics model,uses an inner and outer two-layer structure to achieve decoupling of position control and heading control.A reference positional change rate is introduced into the design of controller,making the automatic guided vehicle(AGV)capable of real-time predictive control ability.A stability analysis and a proof of predictive sliding mode control theory are provided.The experimental results show that the new control algorithm can improve the performance of the AGV controller by referring to the positional change rate,thereby improving the AGV operation without derailing.
