Robust output tracking of nonlinear systems with transient improvement via funnel-based sliding mode control

2020 ◽  
Vol 42 (16) ◽  
pp. 3225-3233
Author(s):  
Mehdi Zahedi ◽  
Tahereh Binazadeh
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Output Tracking ◽  
Mode Control ◽  
Transient Improvement ◽  
The Face ◽  
Funnel Control

This paper studies a new procedure for robust tracking of nonlinear systems. This procedure is based on the combination of the sliding mode control and the funnel control, which in addition to the robust performance of the closed-loop system in the face of model uncertainties and/or external disturbances also leads to improvement of the characteristics of the transient responses. Using funnel control and the appropriate choice of the funnel can affect the convergence rate and overshoot. In this regard, a theorem has been presented and the effective performances of the suggested controller have been guaranteed in various respects based on exact mathematical analysis. Simulations have also been carried out to illustrate the efficiency of the proposed approach and to verify the theoretical achievements of the paper despite model uncertainties and external disturbances.

Robust sliding mode control of uncertain nonlinear systems with chattering alleviating scheme

2021 ◽  
pp. 2140042
Author(s):  
Bhausaheb B. Musmade ◽  
Balasaheb M. Patre
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
External Disturbance ◽  
Uncertain Nonlinear Systems ◽  
Model Uncertainties ◽  
External Disturbances ◽  
Controlled System ◽  
Mode Control

In this paper, a class of uncertain nonlinear systems is investigated and a sliding mode control (SMC) design is presented. The method is proposed for uncertain systems with model uncertainties, nonlinear dynamics and external disturbances. Using nominal system and related bounds of uncertainties, a chattering alleviating scheme is also proposed, which can ensure the robust SMC law. The performance and the significance of the controlled system are investigated under variation in system parameters and also in presence of an external disturbance. The simulation results indicate that performance of the proposed controller is effective compared to the existing controllers.

Chattering-Free Finite-Time Stability of a Class of Fractional-Order Nonlinear Systems

2019 ◽  
Author(s):  
Bin Wang ◽  
Yangquan Chen ◽  
Ying Yang
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Fractional Order ◽  
Finite Time ◽  
Sliding Mode ◽  
Time Stability ◽  
External Disturbances ◽  
Finite Time Stability ◽  
Mode Control ◽  
Chattering Free

Abstract This paper studies the chattering-free finite-time control for a class of fractional-order nonlinear systems. First, a class of fractional-order nonlinear systems with external disturbances is presented. Second, a new finite-time terminal sliding mode control method is proposed for the stability control of a class of fractional-order nonlinear systems by combining the finite-time stability theory and sliding mode control scheme. Third, by designing a controller with a differential form and introducing the arc tangent function, the chattering phenomenon is well suppressed. Additionally, a controller is developed to resist external disturbances. Finally, numerical simulations are implemented to demonstrate the feasibility and validity of the proposed method.

scholarly journals Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances

Complexity ◽  
2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Wonhee Kim ◽  
Chang Mook Kang ◽  
Young Seop Son ◽  
Chung Choo Chung
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Backstepping Control ◽  
State Variables ◽  
External Disturbances ◽  
Mode Control ◽  
Disturbance Cancellation ◽  
The Stability ◽  
Nonlinear Backstepping Control

A nonlinear backstepping control is proposed for the coupled normal form of nonlinear systems. The proposed method is designed by combining the sliding-mode control and backstepping control with a disturbance observer (DOB). The key idea behind the proposed method is that the linear terms of state variables of the second subsystem are lumped into the virtual input in the first subsystem. A DOB is developed to estimate the external disturbances. Auxiliary state variables are used to avoid amplification of the measurement noise in the DOB. For output tracking and unmatched disturbance cancellation in the first subsystem, the desired virtual input is derived via the backstepping procedure. The actual input in the second subsystem is developed to guarantee the convergence of the virtual input to the desired virtual input by using a sliding-mode control. The stability of the closed-loop is verified by using the input-to-state stable (ISS) property. The performance of the proposed method is validated via numerical simulations and an application to a vehicle system based on CarSim platform.

scholarly journals Adaptive Sliding Mode Control Based on Uncertainty and Disturbance Estimator

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Yue Zhu ◽  
Sihong Zhu
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
External Disturbances ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Closed Loop Systems ◽  
Disturbance Estimator

This paper presents an original adaptive sliding mode control strategy for a class of nonlinear systems on the basis of uncertainty and disturbance estimator. The nonlinear systems can be with parametric uncertainties as well as unmatched uncertainties and external disturbances. The novel adaptive sliding mode control has several advantages over traditional sliding mode control method. Firstly, discontinuous sign function does not exist in the proposed adaptive sliding mode controller, and it is not replaced by saturation function or similar approximation functions as well. Therefore, chattering is avoided in essence, and the chattering avoidance is not at the cost of reducing the robustness of the closed-loop systems. Secondly, the uncertainties do not need to satisfy matching condition and the bounds of uncertainties are not required to be unknown. Thirdly, it is proved that the closed-loop systems have robustness to parameter uncertainties as well as unmatched model uncertainties and external disturbances. The robust stability is analyzed from a second-order linear time invariant system to a nonlinear system gradually. Simulation on a pendulum system with motor dynamics verifies the effectiveness of the proposed method.

Sliding Mode Control for Nonlinear Systems with Output Delay Via Method of Stable System Center*

2003 ◽  
Vol 125 (2) ◽  
pp. 253-257 ◽  
Author(s):  
Yuri B. Shtessel ◽  
Alan S. I. Zinober ◽  
Ilia A. Shkolnikov
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Stable System ◽  
Phase System ◽  
Minimum Phase ◽  
Tracking Problem ◽  
Output Tracking ◽  
Mode Control ◽  
State Tracking

Output tracking in causal nonlinear systems with an output time delay is considered using sliding mode control. The problem is reduced to that of the tracking of the output reference profile given by an exogenous system in a causal non-minimum phase system without delay, where the delay is being replaced by its Pade’ approximation. The non-minimum phase output-tracking problem is transformed to a corresponding state tracking problem. Bounded state tracking profiles are generated by equations of the stable system center. A sliding mode control algorithm is developed. A numerical example demonstrates the effectiveness of the sliding mode control design.

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