Model-free adaptive integral terminal sliding mode predictive control for a class of discrete-time nonlinear systems

Abstract

In this paper, a new model-free adaptive digital integral terminal sliding mode predictive control scheme is proposed for a class of nonlinear discrete-time systems with disturbances. The characteristic of the proposed control approach is easy to be implemented because it merely adopts the input and output data model of the system based on compact form dynamic linearization (CFDL) data-driven technique, while the technique of perturbation estimation is applied to estimate the disturbance term of the system. Moreover, by means of combining model predictive control and CFDL digital integral terminal sliding mode control (CFDL-DITSMC), the CFDL digital integral terminal sliding mode predictive control (CFDL-DITSMPC) method is proposed, which can further improve the tracking accuracy and disturbance rejection performance in comparison with the CFDL model-free adaptive control, neural network quasi-sliding mode control and the CFDL-DITSMC scheme. Meanwhile, the stability of the proposed approach is guaranteed by theoretical analysis, and the effectiveness of the proposed method is also illustrated by numerical simulations and the experiment on the two-tank water level control system.