Data-driven discrete terminal sliding mode decoupling control method with prescribed performance |
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| Institution: | 1. School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China;2. School of Control and Computer Engineering, North China Electric Power University, Baoding 071003, China;1. School of Electrical Engineering and Automation, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250353, China;2. College of Information Science and Technology, Donghua University, Shanghai 201620, China;1. Department of Mechanical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran;2. Department of Mechanical engineering, University of Maryland, Baltimore County, USA;1. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, Liaoning 110819, China;2. College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110819, China |
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| Abstract: | This paper proposes a data-driven terminal sliding mode decoupling controller with prescribed performance for a class of discrete-time multi-input multi-output systems in the presence of external disturbances and uncertainties. First, utilizing a discrete-time extended state observer and a compact form dynamic linearization data model, we derive a new data-driven mothod and establish the relationship between the input and output signals of controlled plant. Moreover, the disturbances, uncertainties, and couplings are suppressed owing to the application of the terminal sliding mode technique. Combined with the principle of prescribed performance control, the terminal sliding mode law with prescribed performance is derived. With the proposed data-driven method, the tracking error is lower, and the decoupling ability is improved. Furthermore, the stability of the control system is proven. Finally, a simulation is conducted on a three-tank system to demonstrate the effectiveness of the proposed scheme. |
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