Data-driven sliding mode control of unknown MIMO nonlinear discrete-time systems with moving PID sliding surface

This paper investigates the problem of data-driven sliding mode control (DDSMC) for a class of unknown MIMO nonlinear discrete-time systems with both uncertainties and disturbances. Utilizing the non-parametric dynamic linearization technique (NDLT) and the second-order discrete sliding mode observe...

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Bibliographic Details
Published inJournal of the Franklin Institute Vol. 354; no. 15; pp. 6463 - 6502
Main Authors Weng, Y.P., Gao, X.W.
Format Journal Article
LanguageEnglish
Published Elmsford Elsevier Ltd 01.10.2017
Elsevier Science Ltd
Subjects
Control
Couplings
Discrete element method
Discrete time systems
Disturbances
Dynamic response
Fuzzy control
Fuzzy logic
MIMO (control systems)
Nonlinear control
Nonlinear systems
Sliding mode control
Tracking errors
Transient response
Uncertainty
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Summary:This paper investigates the problem of data-driven sliding mode control (DDSMC) for a class of unknown MIMO nonlinear discrete-time systems with both uncertainties and disturbances. Utilizing the non-parametric dynamic linearization technique (NDLT) and the second-order discrete sliding mode observer (2-DSMO), a novel DDSMC law based on the PID sliding surface is developed to achieve faster transient responses with less steady-state tracking errors. A disadvantage of this strategy is that the PID sliding surface design is based on constant coefficients, which may prevent further control performance improvement of the plant. Then, inspired by the fuzzy logic control (FLC) scheme, a moving PID sliding surface is proposed to further enhance the performance of the DDSMC approach, where the PID sliding surface parameters are updated by the proposed data-driven adaptive law. Using the proposed sliding surface, faster dynamic response and less overshoot of the tracking behaviors are achieved with the magnitude of the discontinuous control gain unchanged. Furthermore, the couplings, uncertainties and disturbances are also suppressed owing to the application of the 2-DSMO. Also, the overall closed-loop system is also shown to be asymptotically stable. Finally, numerical and experimental results are given to validate the effectiveness of the proposed approach.
ISSN:0016-0032
1879-2693
0016-0032
DOI:10.1016/j.jfranklin.2017.07.022