Di Teodoro Antonio, Herrera Marco, Rincon Luis, Gude Juan J, Camacho Oscar
Colegio de Ciencias e Ingenierías "El Politécnico", Universidad San Francisco de Quito USFQ, Quito 170157, Ecuador.
Department of Computing, Electronics and Communication Technologies, Faculty of Engineering, University of Deusto, Bilbao 48007, Spain.
ACS Omega. 2024 Jul 20;9(30):32469-32480. doi: 10.1021/acsomega.3c10514. eCollection 2024 Jul 30.
This paper proposes a hybrid control framework based on internal model concepts, sliding mode control methodology, and fractional-order calculus theory. As a result, a modified Smith predictor (SP) is proposed for nonlinear systems with significant delays. The particular predictive approach enhances the sliding mode control (SMC) controller's transient responses for dead-time processes, and the SMC gives the predictive structure robustness for model mismatches by combining the previous methods with fractional order concepts; the result is a dynamical sliding mode controller. A numerical example is considered to evaluate the performance of the proposed approach, where a step change, external disturbance, and parametric uncertainty test are performed. A real application in the TCLab Arduino kit is presented; the proposed method presented good performance with a little amount of chattering, and in the disturbance rejection case, the overshoot increased with an aggressive response; in both cases, better tuning parameters can improve the process response and the controller action.
本文提出了一种基于内模概念、滑模控制方法和分数阶微积分理论的混合控制框架。因此，针对具有显著延迟的非线性系统，提出了一种改进的史密斯预估器（SP）。这种特殊的预测方法增强了滑模控制（SMC）控制器对死区过程的瞬态响应，并且通过将先前的方法与分数阶概念相结合，SMC为模型失配提供了预测结构的鲁棒性；结果得到了一种动态滑模控制器。考虑了一个数值例子来评估所提出方法的性能，其中进行了阶跃变化、外部干扰和参数不确定性测试。给出了在TCLab Arduino套件中的实际应用；所提出的方法在少量抖动的情况下表现良好，并且在抗干扰情况下，超调量随着激进响应而增加；在这两种情况下，更好的调谐参数可以改善过程响应和控制器动作。
