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
为更好地理解和验证控制理论知识,采用开源物理引擎和Visual Studio 2005设计并实现倒立摆3D虚拟仿真实验平台。该平台既可通过设置PID参数或配置极点等方法验证控制理论,也可利用Matlab或VC++自行编写其他控制算法,并生成相应的动态链...为更好地理解和验证控制理论知识,采用开源物理引擎和Visual Studio 2005设计并实现倒立摆3D虚拟仿真实验平台。该平台既可通过设置PID参数或配置极点等方法验证控制理论,也可利用Matlab或VC++自行编写其他控制算法,并生成相应的动态链接库以供平台调用和测试。实验表明,该平台能够提供一个虚拟直观、操作性强、兼容性和开放性好的控制系统实验环境。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.
文摘为更好地理解和验证控制理论知识,采用开源物理引擎和Visual Studio 2005设计并实现倒立摆3D虚拟仿真实验平台。该平台既可通过设置PID参数或配置极点等方法验证控制理论,也可利用Matlab或VC++自行编写其他控制算法,并生成相应的动态链接库以供平台调用和测试。实验表明,该平台能够提供一个虚拟直观、操作性强、兼容性和开放性好的控制系统实验环境。
