A note on zeros of nonlinear systems: inferring sliding surface selection from the zero-dynamics algorithm

2003 ◽  
Author(s):  
M.D. Di Benedetto ◽  
J.-E. Slotine
Keyword(s):  
Nonlinear Systems ◽  
Zero Dynamics ◽  
Sliding Surface

scholarly journals Design of orbitally stable zero dynamics for a class of nonlinear systems

2004 ◽  
Vol 51 (2) ◽  
pp. 89-103 ◽  
Author(s):  
F. Grognard ◽  
C. Canudas-de-Wit
Keyword(s):  
Nonlinear Systems ◽  
Zero Dynamics

Disturbance Adaptive Discrete-Time Sliding Control With Application to Engine Speed Control

1998 ◽  
Vol 123 (1) ◽  
pp. 1-9 ◽  
Author(s):  
Mooncheol Won ◽  
J. K. Hedrick
Keyword(s):  
Nonlinear Systems ◽  
Discrete Time ◽  
Control Method ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Sliding Mode Control ◽  
Control Law ◽  
Sliding Surface ◽  
Sliding Control ◽  
Error Dynamics

This paper presents a discrete-time adaptive sliding control method for SISO nonlinear systems with a bounded disturbance or unmodeled dynamics. Control and adaptation laws considering input saturation are obtained from approximately discretized nonlinear systems. The developed disturbance adaptation or estimation law is in a discrete-time form, and differs from that of conventional adaptive sliding mode control. The closed-loop poles of the feedback linearized sliding surface and the adaptation error dynamics can easily be placed. It can be shown that the adaptation error dynamics can be decoupled from sliding surface dynamics using the proposed scheme. The proposed control law is applied to speed tracking control of an automatic engine subject to unknown external loads. Simulation and experimental results verify the advantages of the proposed control law.

scholarly journals Robust Output Feedback Passivity-Based Variable Structure Controller Design for Nonlinear Systems

2019 ◽  
Vol 2019 ◽  
pp. 1-10
Author(s):  
Jeang-Lin Chang ◽  
Tsui-Chou Wu
Keyword(s):  
Nonlinear Systems ◽  
Output Feedback ◽  
Controller Design ◽  
Sliding Mode ◽  
Damping Ratio ◽  
Variable Structure ◽  
Sliding Surface ◽  
Estimation Errors ◽  
System States ◽  
Approach Zero

This paper examines the use of an output feedback variable structure controller with a nonlinear sliding surface for a class of SISO nonlinear systems in the presence of matched disturbances. With only the measurable system output, the discontinuous observer reconstructs the system states and ensures that the estimation errors exponentially approach zero. Using the estimation states, the proposed nonlinear sliding surface with variable damping ratio can simultaneously achieve low overshoot and short settling time. Then the passivity-based controller including a discontinuous term can guarantee that the closed-loop system asymptotically converges to the sliding surface. Compared with other sliding mode controllers, the proposed passivity-based control scheme has better transient performance and effectively reduces the control gain. Finally, simulation results demonstrate the validity of the proposed method.

scholarly journals Composite observer-based integral sliding mode dynamical tracking control for nonlinear systems subject to actuator faults and mismatched disturbances

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1309-1317
Author(s):  
Bei Liu ◽  
Yang Yi ◽  
Hong Shen ◽  
Chengbo Niu
Keyword(s):  
Nonlinear Systems ◽  
Tracking Control ◽  
Sliding Mode ◽  
Sliding Surface ◽  
Actuator Faults ◽  
Integral Sliding Mode ◽  
Output Constraints ◽  
Integral Sliding Surface ◽  
The Stability ◽  
Mismatched Disturbances

This brief proposes a novel composite observer-based integral sliding mode tracking control algorithm for a class of nonlinear systems affected by both actuator faults and mismatched disturbances. First, different types of observers, including the extended state observer, the fault diagnosis observer, and the disturbance observer, are integrated to estimate the unknown system state, actuator faults, and mismatched disturbances timely. Then, in accordance with the estimation information, the integral sliding surface and the integral sliding mode controller are proposed, which can tolerate the actuator faults and reject the mismatched disturbances. Meanwhile, the state trajectories can be driven into the specified sliding surface in a finite time. Furthermore, not only the stability, but the favorable dynamical tracking and the output constraints of closed-loop augmented systems can be guaranteed. Finally, the validities of the proposed algorithm are embodied by the simulation results of typical A4D systems.

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