Time-varying Sliding Mode Control for Discrete-time Nonlinear Uncertain Coupled Systems via Sliding Mode Prediction

摘要

In this paper, a novel time-varying sliding mode control (SMC) algorithm based on sliding mode prediction for a class of discrete-time nonlinear uncertain coupled systems is presented. After giving a kind of time-varying sliding mode function, a sliding mode prediction model is used to predict the future information of sliding mode. By employing feedback correction and receding horizon optimization approaches which are extensively applied in predictive control strategy, the desired discrete-time variable structure control law is obtained. Under the influence of uncertainties whose boundaries are unknown, the closed-loop systems are proofed to be robustly stable. Numerical simulation results illustrate that compared with conventional SMC method, under the algorithm proposed in this paper, chattering is eliminated, the control signals have smaller peak values, and the closed-loop system possesses stronger robustness.