scholarly journals Robust Integral Sliding Mode Control Design for Stability Enhancement of Under-actuated Quadcopter

2020 ◽  
Vol 18 (7) ◽  
pp. 1671-1678 ◽  
Author(s):  
Safeer Ullah ◽  
Adeel Mehmood ◽  
Qudrat Khan ◽  
Sakhi Rehman ◽  
Jamshed Iqbal
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Stability Enhancement

Combination of integral sliding mode control design with optimal feedback control for nonlinear uncertain systems

2018 ◽  
Vol 41 (5) ◽  
pp. 1331-1339 ◽  
Author(s):  
Marwa Jouini ◽  
Slim Dhahri ◽  
Anis Sellami
Keyword(s):  
Feedback Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Optimal Feedback Control ◽  
System Response ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Optimal Feedback ◽  
Mode Control

The purpose of this study is to present a new robust sliding mode control design for nonlinear systems where both matched and unmatched uncertainties are considered. The proposed controller strategy is composed of two components: the integral sliding mode control and the optimal feedback control law. Moreover, an integral sliding mode surface in integral type is developed to construct the reachability of sliding mode using the Lyapunov functions method. The main advantages of the proposed approach are ensuring the robustness throughout the whole system response against the uncertainties, decrease the chattering effect and eliminate the reaching phase. Finally, the validity of the proposed design strategy is demonstrated through the simulation of a flexible joint robot.

Robust Control Design Based-On Integral Sliding-Mode Control

2013 ◽  
Vol 284-287 ◽  
pp. 2301-2304 ◽  
Author(s):  
Chieh Chuan Feng ◽  
Li Peng Yin ◽  
En Chih Chang
Keyword(s):  
Robust Control ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Linear Control ◽  
Sliding Surface ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control ◽  
Robust Control Design

This paper proposes a robust control design based-on integral sliding-mode and H2–norm performance criterion to handle a class of time-varying systems with perturbations including non-linearities and disturbances. The stabilization problems for such systems are studied: integral slid-ing-mode is designated to completely nullify the matched perturbations and, in the meantime, elim-inate the reaching phase to the sliding surface, while H2–norm is a robust linear control measured for system on the sliding surface. In addition to the integral sliding mode control, the contribution of the paper is to implement a parameter-dependent Lyapunov function for H2–norm robust linear control that the overall designed system is less conservative for the system with both matched and unmatched perturbations.

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