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针对一类包含扰动的非线性离散时间系统，提出一种新的无模型的自适应离散积分终端滑膜控制算法。该算法基于紧格式动态线性化数据模型，利用离散积分终端滑膜控制算法设计无模型自适应控制器，并且采用扰动估计技术估计系统的扰动项，其中动态线性化方法中“伪偏导数”的估计算法仅依赖于被控系统的I/O测量数据。理论分析证明系统输入输出有界，并通过仿真实验验证了所提方法的有效性。
Aiming at a class of nonlinear discrete-time systems with perturbation, a new model-free adaptive discrete integral termination synovial control algorithm is proposed. The algorithm is based on a tight dynamic linearization data model and a model-free adaptive controller is designed by using discrete integral terminal synovial control algorithm. The perturbation term is estimated by using the perturbation estimation technique. In the dynamic linearization method, the “pseudo-partial derivative” The estimation algorithm only depends on the I / O measurement data of the controlled system. The theoretical analysis proves that the input and output of the system are bounded, and the validity of the proposed method is verified by simulation experiments.