A variable structure control scheme based on nonlinear continuous predictive controller

摘要

A variable structure control scheme based on nonlinear continuous predictive controller is presented, which combines nonlinear continuous predictive control (NCPC) with sliding mode variable structure control (SMVSC). The controller consists of NCPC designed for plant nominal model and SMVSC designed for plant uncertainty. The proposed scheme is highly robust as SMVSC, and lessen the chattering of SMVSC because of the introduction of NCPC. Applying the scheme to the trajectory tracking of robot manipulator with two-degree-of-freedom, the simulation shows the proposed scheme is very effective.