novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.26.624-632novtexmech-1883Research ArticleСИСТЕМНЫЙ АНАЛИЗ, УПРАВЛЕНИЕ И ОБРАБОТКА ИНФОРМАЦИИSYSTEM ANALYSIS, CONTROL AND INFORMATION PROCESSINGПрогнозирующее скользящее управление линейными динамическими системами с запаздыванием на основе линейной компенсации и алгоритма суперскручиванияSliding Mode Predictive Control of Uncertain Systems with Delays Based on Linear Compensation and Super Twisting AlgorithmПакГван СонPakKwang Son

Д-р техн. наук, доц., Политехнический университет им. Ким Чака, аспирант, ДВГУПС

Пхеньян, Хабаровск

Dr. Tech. Sc., Associate Professor, Kim Chaek University of Technology, Postgraduate Student, Far Eastern State Transport University

Pyongyang, Khabarovsk

pakkwangson@gmail.comКимЧхун ИрKimСhung Il

Канд. техн. наук, Пхеньянский институт компьютерных технологий, аспирантДВГУПС

 Пхеньян, Хабаровск

Сand.Tech. Sc., Senior Researcher, Pyongyang university of computer science, Postgraduate Student, Far Eastern State Transport University

Pyongyang, Khabarovsk

kwillgoon@gmail.comХоЧжунHoJun

Канд. техн. наук,Университет им. Ким Ир Сена, аспирант, РУТ (МИИТ)

Пхеньян, Москва

Сand. Tech. Sc., Senior Researcher, Kim Il Sung University, Pyongyan, Postgraduate Student, Russian University Transport (MIIT)

Pyongyang, Moscow

hj19840818@gmail.comПолитехнический университет им. Ким Чака; ДВГУПССеверная КореяKim Chaek University of Technology; Far Eastern State Transport UniversityKorea, Democratic People's Republic ofПхеньянский институт компьютерных технологий; ДВГУПССеверная КореяPyongyang university of computer scienceKorea, Democratic People's Republic ofУниверситет им. Ким Ир Сена; РУТ (МИИТ)Северная КореяKim Il Sung University, Pyongyang; Russian University Transport (MIIT)Korea, Democratic People's Republic of2025061220252612624632Copyright © Commercial Publisher «New Technologies», 20252025Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1883

Методология управления скользящим режимом — это эффективный метод, обеспечивающий высокие динамические характеристики, точность и надежность при решении разнообразных нелинейных задач управления, связанных с внешними возмущениями. Предлагается метод скользящего режима для обеспечения надежной устойчивости неопределенных систем с запаздывающей обратной связью на основе линейной компенсации и алгоритма суперкрутки. Цель данной работы заключается в построении робастной системы управления для неопределенных систем с временной задержкой и неизвестными возмущениями. Предиктор используется для компенсации задержки на управляющем входе, а алгоритм суперкрутки используется для известных возмущений и неопределенностей модели. Компенсационное управление предназначено для уменьшения ошибок управления из-за изменения динамических характеристик и неизвестных возмущений. Принцип линейной компенсации, предложенный в статье, сформулирован в виде уравнения с условиями производительности, а не неравенств, как в методах Ляпунова, и сходимость процесса компенсации гарантируется теорией линейного управления. Результаты моделирования   показывают эффективность предложенного метода. Результаты моделирования демонстрируют, что прогнозирующее управление в скользящем режиме для неопределенных систем с задержками на основе линейной компенсации является высокоэффективным.

Sliding Mode Control Methodology is an efficient technique for high dynamic performance, accuracy and robustness in solving diverse nonlinear control problems involving external disturbances. We propose a sliding mode method for robust stability of uncertain systems with delayed feedback based on linear compensation and Super Twisting algorithm. Our aim is to develop a robust control system for uncertain systems with time delay and unknown disturbances. The predictor is used to compensate for the delay in the control input, and the Super Twisting algorithm is used for known disturbances and model uncertainties. Compensation control is designed to reduce control errors due to dynamic characteristic variation and unknown disturbances. The linear compensation principle proposed in this paper is formulated in an equation with performance conditions, not inequalities as in Lyapunov methods, and convergence of the compensation process is guaranteed by linear control theory. Simulation results show the effectiveness of the proposed method. The simulation results demonstrate that sliding mode predictive control for uncertain systems with delays based on linear compensation is highly effective.

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The authors declare that there are no conflicts of interest present.