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首页> 外文会议>Iranian Conference on Electrical Engineering >Control of MIMO nonlinear discrete-time systems with input saturation via data-driven model-free adaptive fast terminal sliding mode controller
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Control of MIMO nonlinear discrete-time systems with input saturation via data-driven model-free adaptive fast terminal sliding mode controller

机译：通过数据驱动的无模型自适应快速终端滑模控制器控制具有输入饱和的MIMO非线性离散时间系统

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摘要

The aim of the present paper is to design a robust and model-free adaptive controller using a nonlinear fast terminal sliding manifold for discrete-time MIMO nonlinear systems while the system inputs are constrained by magnitude and rate constraints. Firstly, by utilizing the dynamic-linearization technique, nonlinear dynamics of the system are expressed by dynamically linear equivalent data model, and an adaptive rule and multi observers are presented to predict the pseudo partitioned Jacobian matrix and the outputs of the plant, respectively. Secondly, in order to attenuate the effect of the input constraints in tracking performance of the controller, the modified tracking error vector is designed by taking the anti-windup compensator into consideration. Finally, data-driven nonlinear fast terminal sliding mode constrained control is investigated in order to increase the robustness of the closed-loop plant and enhance the tracking performance. The Lyapunov theorem is utilized to study the stability of the overall closed loop plant. Meanwhile, the simulation results are presented to accredit the robustness of the proposed method against input constraints and external perturbations.
机译：本文的目的是为离散时间MIMO非线性系统设计一个使用非线性快速终端滑动流形的健壮且无模型的自适应控制器，而系统输​​入受幅度和速率约束。首先，利用动态线性化技术，通过动态线性等效数据模型来表示系统的非线性动力学，并提出了自适应规则和多观测器来分别预测伪划分的雅可比矩阵和工厂的输出。其次，为了减弱输入约束对控制器跟踪性能的影响，通过考虑抗饱和补偿器来设计改进的跟踪误差矢量。最后，研究了数据驱动的非线性快速终端滑模约束控制，以提高闭环设备的鲁棒性并提高跟踪性能。利用李雅普诺夫定理研究整个闭环装置的稳定性。同时，给出了仿真结果，以证明该方法在输入约束和外部扰动下的鲁棒性。

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