不确定离散系统自适应趋近律滑模控制技术研究

On Adaptive Reaching Law Sliding Mode Control Technology for Uncertain Discrete-time Systems

摘要: 针对受噪声干扰的含有未知参数的离散系统控制问题，首先利用强跟踪滤波器对未知参数进行估计，接着提出了一种自适应离散趋近律滑模控制方法．深入研究分析了该离散趋近律方法的抖振问题，设计了基于该新型趋近律的滑模控制器．仿真结果表明所设计的控制器能有效降低抖振，改善控制性能．

Abstract: For the control problem of discrete-time systems with noise disturbance and uncertain parameters,a strong tracking filter is used to estimate uncertain parameters firstly,and then a sliding mode control method based on discrete adaptive reaching law is proposed.The chattering problem is studied and analyzed deeply for the discrete-time reaching law,and a new sliding mode controller based on the new reaching law is designed.Simulation results demonstrate that the designed controller can effectively reduce chattering and improve the control performance.