Adaptive Sliding Mode Decoupling Control with Data-Driven Sliding Surface for Unknown MIMO Nonlinear Discrete Systems

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• 作者：Yongpeng Weng ; Xianwen Gao
• 关键词：Second ; order sliding mode control ; Data ; driven sliding surface ; Three ; tank system ; Decoupling ; Robustness
• 刊名：Circuits, Systems, and Signal Processing
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：36
• 期：3
• 页码：969-997
• 全文大小：
• 刊物类别：Engineering
• 刊物主题：Circuits and Systems; Electrical Engineering; Signal,Image and Speech Processing; Electronics and Microelectronics, Instrumentation;
• 出版者：Springer US
• ISSN：1531-5878
• 卷排序：36

文摘

This paper investigates the second-order sliding mode control (2-SMC) problem for a class of unknown multi-input multi-output nonlinear discrete systems. First, by nonparametric dynamic linearization technique and the extended state observer, a novel data-driven sliding surface is designed that can establish the relation between the desired trajectories and the control inputs. An adaptive 2-SMC law based on the proposed sliding surface is then derived to deal with the effects of couplings, uncertainties and external disturbances. Using the proposed sliding surface, a better decoupling ability and stronger robustness of the proposed approach are achieved. In addition, it is proved that the states of closed-loop system are asymptotically stable. Finally, an example of three-tank system is given to demonstrate the effectiveness of the theoretical results.