论文部分内容阅读
针对一类带有外部扰动的未知MIMO非线性离散系统,提出一种新型自适应准滑模控制算法.该算法基于非参数动态线性化技术,运用高阶滑模控制的思想实现带有扰动系统的二阶准滑模控制.同时,利用扰动解耦技术,在控制器的设计中引入离散扩张状态观测器(DESO)对系统各回路间的耦合以及数据模型的未建模动态进行补偿,以进一步实现多变量系统的解耦,提升控制品质.理论分析和仿真结果说明了所提出方法的有效性和可行性.
Aiming at a class of unknown MIMO nonlinear discrete systems with external disturbances, a novel adaptive quasi-sliding mode control algorithm is proposed. The algorithm is based on the non-parametric dynamic linearization technique and the idea of higher order sliding mode control The second order quasi-sliding mode control is introduced.At the same time, by using disturbance decoupling technique, the discrete expansion state observer (DESO) is introduced in the design of the controller to compensate the coupling between the system loops and the unmodeled dynamics of the data model Further decoupling multivariable systems and improving control quality.Theoretical analysis and simulation results show the effectiveness and feasibility of the proposed method.