scholarly journals Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Sami ud Din ◽  
Qudrat Khan ◽  
Fazal ur Rehman ◽  
Rini Akmeliawati
Keyword(s):  
Robust Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Integral Manifold ◽  
Control Design ◽  
Underactuated Systems ◽  
Control Laws ◽  
Beam System ◽  
Integral Manifolds ◽  
Robust Control Design

This paper presents a robust control design for the class of underactuated uncertain nonlinear systems. Either the nonlinear model of the underactuated systems is transformed into an input output form and then an integral manifold is devised for the control design purpose or an integral manifold is defined directly for the concerned class. Having defined the integral manifolds discontinuous control laws are designed which are capable of maintaining sliding mode from the very beginning. The closed loop stability of these systems is presented in an impressive way. The effectiveness and demand of the designed control laws are verified via the simulation and experimental results of ball and beam system.

Sliding Mode Control Laws Design by the ADAR Method with Subsequent Invariant Manifolds Aggregation

2019 ◽  
Vol 20 (8) ◽  
pp. 451-460 ◽  
Author(s):  
A. A. Kolesnikov ◽  
A. A. Kuz’menko
Keyword(s):  
Robust Control ◽  
Invariant Manifolds ◽  
Closed Loop ◽  
Sliding Mode ◽  
Design Procedure ◽  
Sliding Surface ◽  
Closed Loop System ◽  
External Disturbances ◽  
Control Laws ◽  
The Stability

Sliding mode control (SMC) laws are commonly used in engineering to make a system robust to parameters change, external disturbances and control object unmodeled dynamics. State-of-the-art capabilities of the theory of adaptive and robust control, the theory of fuzzy systems, artificial neural networks, etc., which are combined with SMC, couldn’t resolve current issues of SMC design: vector design and stability analysis of a closed-loop system with SMC are involved with considerable complexity. Generally the classical problem of SMC design consists in solving subtasks for transit an object from an arbitrary initial position onto the sliding surface while providing conditions for existence of a sliding mode at any point of the sliding surface as well as ensuring stable movement to the desired state. As a general rule these subtasks are solved separately. This article presents a methodology for SMC design based on successive aggregation of invariant manifolds by the procedure of method of Analytical Design of Aggregated Regulators (ADAR) from the synergetic control theory. The methodology allows design of robust control laws and simultaneous solution of classical subtasks of SMC design for nonlinear objects. It also simplifies the procedure for closed-loop system stability analyze: the stability conditions are made up of stability criterions for ADAR method functional equations and the stability criterions for the final decomposed system which dimension is substantially less than dimension of the initial system. Despite our paper presents only the scalar SMC design procedure in details, the ideas are also valid for vector design procedure: the main difference is in the number of invariant manifolds introduced at the first and following stages of the design procedure. The methodology is illustrated with design procedure examples for nonlinear engineering systems demonstrating the achievement of control goals: hitting to target invariants, insensitivity to emerging parametric and external disturbances.

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.

Robust Control Design of Nonlinear System via Backstepping-PSO with Sliding Mode Techniques

2017 ◽  
pp. 27-37 ◽  
Author(s):  
Sahazati Md Rozali ◽  
Nor Syaza Farhana ◽  
Muhammad Nizam Kamarudin ◽  
Amar Faiz Zainal Abidin ◽  
Mohd Fua’ad Rahmat ◽  
...  
Keyword(s):  
Robust Control ◽  
Nonlinear System ◽  
Sliding Mode ◽  
Control Design ◽  
Robust Control Design
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