非均匀采样系统的无模型自适应准滑模控制  

Model-Free Adaptive Quasi-Sliding Mode Control for Non-uniformly Sampled Systems

作　　者：叶金鑫 谢丽蓉[1] 王宏伟[2] YE Jinxin;XIE Lirong;WANG Hongwei(Xinjiang University,Urumqi 830000 China;Dalian University of Technology,Dalian 116000 China)

机构地区：[1]新疆大学,乌鲁木齐830000 [2]大连理工大学,辽宁大连116000

出　　处：《电光与控制》2023年第1期35-41,共7页Electronics Optics & Control

基　　金：国家自然科学基金(62163034)。

摘　　要：针对非均匀采样非线性系统存在外界扰动造成难以控制的问题,利用数据驱动策略,提出了无模型自适应准滑模控制算法。首先,将系统动态线性化过程中的伪雅可比矩阵参数估计误差视为一种外界扰动;其次,利用滑模控制的方法对该动态线性化模型进行控制器设计。该算法特点是:结合了滑模控制固有的特性来减小外界扰动对系统控制作用的影响,有效地提高了控制效果。最后,对该控制算法的稳定性也进行了分析,通过一个非均匀采样非线性系统的仿真实验验证了所提算法的有效性。Aiming at the problem that the non-linear system with non-uniform sampling is difficult to control due to external disturbance,a model-free adaptive quasi-sliding mode control algorithm is proposed by using data-driven strategy.Firstly,the parameter estimation error of pseudo-Jacobian matrix in the process of system dynamic linearization is regarded as an external disturbance.Secondly,the controller of the dynamic linearization model is designed by using sliding mode control.The algorithm is characterized by utlizing the inherent characteristics of sliding mode control to reduce the influence of external disturbance on the control function of the system,which effectively improves the control effect.Analysis is made on the stability of the control algorithm,and the effectiveness of it is verified by simulation of a discrete-time nonlinear system with non-uniform sampling.

关 键 词：滑模控制 数据驱动策略 稳定性 参数估计 非均匀采样 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]