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

作　　者：侯明冬[1,2] 王印松[1] HOU Ming-dong;WANG Yin-song(School of Control and Computer Engineering,North China Electric Power University,Baoding 071003,China;Department of Electrics and Automation,Shandong Labor Vocational and Technical College,Ji＇nan 250100,China)

机构地区：[1]华北电力大学控制与计算机工程学院,河北保定071003 [2]山东劳动职业技术学院电气及自动化系,济南250100

出　　处：《控制与决策》2018年第9期1591-1597,共7页Control and Decision

基　　金：国家自然科学基金重点项目(61533013)

摘　　要：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.

关 键 词：无模型自适应控制 终端滑模控制 动态线性化 非线性离散时间系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]