Robust Sliding Mode Predictive Control of Uncertain Networked Control System with Random Time Delay

摘要

This paper proposes a sliding mode predictive controller with a new robust global sliding surface for a certain networked control system with random time delay, mismatched parametric uncertainty, and external disturbances. First, the model of the networked control system is established, based on which linear transformation is made to get a new form of the system which does not have time delay term in expression. Then a global sliding surface is proposed followed by the sufficient condition given in the form of linear matrix inequality (LMI) to guarantee system stability and robustness. Subsequently, a sliding mode predictive controller is proposed with modified reaching law as its reference trajectory and the rolling optimization method is combined to provide optimal control input for each step so that chattering can be minimized. Finally, simulations have been made and the results indicate the advantages of the proposed controller in the aspect of convergence speed, chattering suppression, and robustness to uncertainties.