不确定离散非线性系统的滑模预测控制设计

By introducing sliding mode predictive control (SMPC) techniques, a controller for a class of discrete-time nonlinear uncertain single-input-single-output (SISO) systems is proposed. The desired control law is obtained using the feedback correction and receding horizon optimization. The influence of uncertainty can be compensated in time by the conntrol strategy, and it has strong robustness to matched or unmatched uncertainties. Especially, the chattering of sliding mode control (SMC) can be eliminated by predictive control techniques. It is shown that all the signals of the closed-loop systems are bounded and the tracking error is robustly stable, without requiring the known boundary of uncertainty. Simulation results are given to demonstrate the merits of the proposed method.