Abstract
A novel tracking control algorithm based on sliding mode prediction is proposed for a class of discrete-time nonlinear uncertain systems in this paper. By constructing a sliding mode prediction model at first, the future, present and history information of the system can be used to improve the performance of sliding mode control. Because of sliding mode reference trajectory, the reachability of sliding mode is achieved, and the reaching mode can be determined by designers in advance. Due to feedback correction and receding horizon optimization, the influence of uncertainty can be compensated in time and control law is obtained subsequently. Theoretical analysis proves the closed-loop system possesses robustness to matched or unmatched uncertainty, without requiring the known bound of uncertainty. Simulation results illustrate the validity of the presented algorithm.
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© 2011 Springer-Verlag Berlin Heidelberg
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Xiao, L., Zhu, Y. (2011). Sliding Mode Prediction Based Tracking Control for Discrete-time Nonlinear Systems. In: Liu, D., Zhang, H., Polycarpou, M., Alippi, C., He, H. (eds) Advances in Neural Networks – ISNN 2011. ISNN 2011. Lecture Notes in Computer Science, vol 6677. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-21111-9_10
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DOI: https://doi.org/10.1007/978-3-642-21111-9_10
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-21110-2
Online ISBN: 978-3-642-21111-9
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