Random nonlinear system-oriented asynchronous sliding mode control method

Abstract

The invention discloses a random nonlinear system-oriented asynchronous sliding mode control method. According to the asynchronous sliding mode control method, a hidden Markov model is adopted to solve the asynchronization problem in the design of a sliding mode controller. Alpha<jv><mu> represents the simultaneous hopping of a controller mode r^<t>, and q<[mu]v> represents the spontaneous hopping. A joint transfer rate theta (i, mu) (j, mu) is defined, a rate form describing the asynchronization degree between a sliding mode controller mode and a system mode is obtained, and the rate form has the advantages that the joint transfer rate phi( r<t>, r^<t>) covers simultaneous hopping of the system mode and the sliding mode controller mode and spontaneous hopping of r^<t> when the system is in an invariant mode. Therefore, the opportunity of infinite hopping of r^<t> in a finite time interval in a conditional probability model is avoided. In addition, the sliding mode surface constructed in the invention is obtained by combining modal dependence and output feedback, and the form is described in the specification. Meanwhile, a non-synchronous relationship between the system and the sliding mode surface is described on the basis of a hidden Markov model.

Description

technical field [0001] The invention relates to the technical field of networked control, in particular to an asynchronous sliding mode control method for stochastic nonlinear systems. Background technique [0002] Sliding mode control is an important research branch in the field of control, and is widely used in robot manipulation, aerospace, sewage treatment systems, etc., but in actual engineering systems, it is inevitably affected by various random factors. Information loss due to transmission delays or bandwidth limitations, ie the modal information of the system is constrained, is also known as the asynchronous problem. [0003] For stochastic nonlinear systems, when encountering this type of asynchronous problem, the first thing to do is to use sliding mode control. However, the existing sliding mode control methods are not sensitive and not robust to nonlinear and uncertain systems. , under the condition that the modal information of the system is constrained, it is...

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Problems solved by technology

[0002] Sliding mode control is an important research branch in the field of control, and is widely used in robot manipulation, aerospace, sewage treatment systems, etc., but in actual engineering systems, it is inevitably affected by various random factors. Information is lost due to transmission delays or bandwidth limitations, i.e. the modal information of the system is constrained, this situation is also known as the asynchronous problem

[0003] For stochastic nonlinear systems, when encountering this type of asynchronous problem, the first thing to do is to use sliding mode control. However, the existing sliding mode control methods are not sensitive and not robust to nonlinear and uncertain systems. , under the condition that the modal information of the system is constrained, it is often impossible to obtain the accurate state of the system. Under normal circumstances, the accurate state of the system can only be obtained through a series of observations and processing other information of the system, which will lead to system state information Obtain imprecise, unobservable problems, so it is necessary to consider how to deal with a series of control problems when the modal information of stochastic nonlinear systems is constrained

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