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Data-driven integral sliding mode predictive control with optimal disturbance observer
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DOI：10.1016/j.jfranklin.2024.107278.png)
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Abstract
En 中文
this paper, a novel data-driven integral sliding mode predictive control algorithm an optimal disturbance observer (DDISMPC-ODO) is proposed for a class of nonlinear discrete-time systems (NDTS) subject to external disturbances. The designed optimal disturbance observer realizes the precise observation of the lumped disturbance, thus ameliorating accuracy of the controller and weakening problems with chattering. In this work, a pseudo-partial derivative (PPD) estimation algorithm is introduced, which not only improves system performance, but also facilitates theoretical proof of parameter estimation and tracking accuracy. The convergence of the PPD estimation error and disturbance observation proved. It is also proved that the accuracy of the disturbance observation error can converge T 3 ) and then the magnitude of the sliding variable and the tracking error are also reduced O(T3) ( T 3 ) respectively. Finally, the effectiveness of the proposed method is demonstrated simulation example and an experiment.
Keywords:
Nonlinear discrete-time systems
Model-free adaptive control
Optimal disturbance observer
Robust PPD estimator
Tracking accuracy
Journal
J
IF:
3.7
Papers:
6.4K
Citations:
1.5W