【摘要】 针对一般非线性离散时间系统的不确定性和扰动抑制问题,提出一种新的自适应准滑模控制算法.算法包括两部分,其一是基于紧格式动态线性化模型的自适应准滑模控制器设计,其中动态线性化方法中"伪偏导数"的估计算法仅依赖于系统I/O实时量测值.其二是采用径向基神经网络估计器来估计系统的综合不确定性.理论分析证明了系统的BIBO稳定性.仿真结果验证了所提算法的有效性.更多还原

【Abstract】 A new adaptive quasi-sliding-mode control algorithm is proposed to deal with the problems of disturbances and uncertainty in general nonlinear discrete-time systems.The algorithm includes two parts:one is the design of an adap-tive quasi-sliding-mode controller based on the tight-format dynamic linearization model,whose linearization parameters,i.e.pseudo-partial derivatives(PPD)are estimated on-line from the I/O(input/output)information of the system;the other is the estimation of the system uncertain part by employing a RBFNN(radical base function neural network)-based predic-tor.The BIBO(bounded-input bounded-output)stability is also proved through rigorous theoretical analysis.Finally,the simulation results validate the effectiveness of the proposed method.更多还原