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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Quasi-Sliding Mode Control With Orthogonal Endocrine Neural Network-Based Estimator Applied in Anti-Lock Braking System
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Quasi-Sliding Mode Control With Orthogonal Endocrine Neural Network-Based Estimator Applied in Anti-Lock Braking System

机译：基于正交内分泌神经网络估计器的准滑模控制在防抱死制动系统中的应用

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摘要

This paper presents a new control method for nonlinear discrete-time systems, described by an input–output model which is based on a combination of quasi-sliding mode and neural networks. First, an input–output discrete-time quasi-sliding mode control with inserted digital integrator, which additionally reduces chattering, is described. Due to the presence of various nonlinearities and uncertainties, the model of the controlled object cannot be described adequately enough. These imperfections in modeling cause a modeling error, resulting in rather poor system performances. In order to increase the steady-state accuracy, an estimated value of the modeling error in the next sampling period is implemented into the control law. For this purpose, we propose two improved structures of the neural networks by implementing the generalized quasi-orthogonal functions of Legendre type. These functions have already been proven as an effective tool for the signal approximation, as well as for modeling, identification, analysis, synthesis, and simulation of dynamical systems. Finally, the proposed method is verified through digital simulations and real-time experiments on an anti-lock braking system as a representative of the considered class of mechatronic systems, in a laboratory environment. A detailed analysis of the obtained results confirms the effectiveness of the proposed approach in terms of better steady-state performances.
机译：本文提出了一种用于非线性离散时间系统的新控制方法，该方法由基于准滑动模式和神经网络的输入输出模型描述。首先，介绍了带有插入式数字积分器的输入输出离散时间准滑模控制，该控制还可以减少颤动。由于存在各种非线性和不确定性，因此无法充分描述受控对象的模型。建模中的这些缺陷会导致建模错误，从而导致较差的系统性能。为了提高稳态精度，将下一采样周期中建模误差的估计值实施到控制定律中。为此，我们通过实现勒让德类型的广义拟正交函数，提出了两种改进的神经网络结构。这些功能已经被证明是信号逼近以及动态系统建模，识别，分析，综合和仿真的有效工具。最后，在实验室环境中，通过数字仿真和实时实验对防抱死制动系统进行了验证，该防抱死制动系统代表了所考虑的机电系统类别。对获得的结果的详细分析证实了该方法在更好的稳态性能方面的有效性。

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