Robust data-driven model-reference control of linear perturbed systems via sliding mode generation

TL;DR

This paper presents a data-driven integral sliding mode control method for linear systems with unknown dynamics and disturbances, ensuring robustness and reference model tracking without explicit plant modeling.

Contribution

It introduces a novel data-based ISMC framework that guarantees stability and reference tracking solely from data, bypassing the need for explicit system models.

Findings

The proposed method achieves robust reference model tracking in simulations.

Experimental validation confirms effectiveness on real systems.

The approach guarantees stability under unknown dynamics and disturbances.

Abstract

This paper introduces a data-based integral sliding mode control scheme for robustification of model-reference controllers, accommodating generic multivariable linear systems with unknown dynamics and affected by matched disturbances. Specifically, an integral sliding mode control (ISMC) law is recast into a data-based framework relying on an integral sliding variable depending only on the reference model, without the need of modeling the plant. The main strength of the proposed approach is the enforcement of the desired reference model in closed-loop under sliding mode conditions, despite the lack of knowledge of the model dynamics and the presence of the matched disturbances. Moreover, the conditions required to guarantee an integral sliding mode generation and the closed-loop stability are formally analyzed in the paper, remarking the generality of the proposed data-driven integral sliding mode control (DD-ISMC) with respect to the related model-based counterpart. Finally, the main practices for the data-based design of the proposed control scheme are deeply discussed in the paper, and the proposed method is tested in simulation on a benchmark example, and experimentally on a real laboratory setup. Simulation and experimental evidence fully corroborates the theoretical analysis, thus motivating further research in this direction.