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Adaptive Sliding Mode Decoupling Control with Data-Driven Sliding Surface for Unknown MIMO Nonlinear Discrete Systems

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Abstract

This paper investigates the second-order sliding mode control (2-SMC) problem for a class of unknown multi-input multi-output nonlinear discrete systems. First, by nonparametric dynamic linearization technique and the extended state observer, a novel data-driven sliding surface is designed that can establish the relation between the desired trajectories and the control inputs. An adaptive 2-SMC law based on the proposed sliding surface is then derived to deal with the effects of couplings, uncertainties and external disturbances. Using the proposed sliding surface, a better decoupling ability and stronger robustness of the proposed approach are achieved. In addition, it is proved that the states of closed-loop system are asymptotically stable. Finally, an example of three-tank system is given to demonstrate the effectiveness of the theoretical results.

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Acknowledgments

This work is supported by Key Program of National Natural Science Foundation of China (No. 61573088).

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Authors and Affiliations

  1. Department of Information Science and Engineering, Northeastern University, Shenyang, 110819, People’s Republic of China

    Yongpeng Weng & Xianwen Gao

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  1. Yongpeng Weng
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  2. Xianwen Gao
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Correspondence to Xianwen Gao.

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Weng, Y., Gao, X. Adaptive Sliding Mode Decoupling Control with Data-Driven Sliding Surface for Unknown MIMO Nonlinear Discrete Systems. Circuits Syst Signal Process 36, 969–997 (2017). https://doi.org/10.1007/s00034-016-0353-0

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  • DOI: https://doi.org/10.1007/s00034-016-0353-0

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