Robust sliding mode control for uncertain nonlinear systems based on preview and PI compensation
LAN Yong-hong
WU Jin-yi
ZHOU Yu-xi
Abstract：For a class of nonlinear continuous time systems with matching uncertainty,a robust sliding mode control design method with preview and PI compensation is proposed.Firstly,in order to improve the tracking performance and robustness of the system,feedforward preview controller and PI controller are introduced on the basis of conventional sliding mode control.Then,by adding the extended system state variable method,an uncertain augmented system with predictable target signals is constructed,and the controller design problem is transformed into the stability problem of the augmented system.On this basis,the optimal preview PI controller is designed by using the optimal control principle for the nominal augmented system.For the uncertain augmented system,based on the integral sliding mode control and optimal preview PI control method,an integrated controller is designed to achieve robust adjustment of the uncertain system.The results generalize and include some of the results in the literature.Finally,the effectiveness of the devised method is verified by simulation analysis.
Keywords：preview controlPI controluncertain nonlinear systemssliding mode control
Publication Date：2023-11-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1999-2006 )