Design of a Sliding Mode Control System for Nonlinear Uncertain Input-Delay Processes

非線性不確定輸入時延程序之滑動模式控制系統設計

陳奇中(Chyi-Tsong Chen) ； 彭世典(Shih-Tien Peng)

《Journal of the Chinese Institute of Chemical Engineers》 36卷3期 (2005/05) Pp. 289-300

https://doi.org/10.6967/JCICE.200505.0289

摘要

本文提出一個結合預估器架構之滑動模式控制策略，以操控非線性不確定輸入時延之化工程序。藉由Lyapunov的方法，吾人可證明整個控制系統的強韌穩定性並確保閉迴路系統的表現。另一方面，為了驗證本文所提滑動模式控制策略之有效性與可應用性，我們將其應用於存在大輸入時延及各種程序不確定性，如未模式化之副反應、測量誤差、及／或額外不可量測擾動之連續式攪拌反應器的調節控制上。同時，為了線上獲得不可量測的系統狀態值，吾人於所提出的滑動模式架構中也加入了滑動模式觀測器的使用，因此更增加了所提方法的實用性。由模擬的結果顯示，本文所提出的滑動模式控制系統設計方法，不僅能確保整個控制系統之強韌穩定性，更能達到比傳統控制器更為優良的控制性能。

並列摘要

A sliding mode control strategy with the incorporation of a prediction scheme is developed for nonlinear uncertain input-delay chemical processes. A Lyapunov-based approach is employed to guarantee both the robust stability and performance of the closed-loop system. To demonstrate the effectiveness and applicability of the proposed nonlinear strategy, we applied it to the regulation control of a continuously stirred tank reactor (CSTR) in the presence of a large input delay and various process uncertainties, such as un-modeled side reaction, measuring error, and/or extra unmeasured disturbances. The potential use of a sliding observer along with the proposed scheme is also investigated. Extensive simulation results reveal that the proposed design methodology is applicable, promising, and provides robust and high control performance for the regulation of nonlinear uncertain chemical processes in the presence of input-delay.

並列關鍵字

Sliding mode control ； Time-advanced nonlinear predictor ； Nonlinear uncertain process ； Input-delay ； Robust stability and performance