Modified Sliding Mode Control for Mismatched Uncertain Systems with Unknown Disturbances

2016 ◽  
Vol 829 ◽  
pp. 123-127
Author(s):  
Van Van Huynh ◽  
Thao Phuong Thi Nguyen
Keyword(s):  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Existence Condition ◽  
Adaptive Sliding Mode Control ◽  
Linear Matrix ◽  
Control Law ◽  
Sliding Surface ◽  
Mode Control ◽  
System States

In this paper, a new sliding mode control law is developed for a class of mismatched uncertain systems with more general exogenous disturbances. First, we derive a new existence condition of linear sliding surface in terms of strict linear matrix inequalities such that the reduce-order sliding mode dynamics is is asymptotically stable. Second, we propose an adaptive sliding mode control law such that the system states reach the sliding surface in finite time and stay on its thereafter. Final, a numerical example is used to demonstrate the efficacy of the proposed method.

scholarly journals LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems

2011 ◽  
Vol 21 (4) ◽  
pp. 605-615 ◽  
Author(s):  
Chaouki Mnasri ◽  
Moncef Gasmi
Keyword(s):  
Sliding Mode Control ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Control Law ◽  
Fuzzy Integral ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Adaptive Fuzzy ◽  
Mode Control

LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guaranteed by the proposed control law. The improvement of the proposed control scheme performances, such as chattering elimination and estimation of norm bounds of uncertainties, is then considered with the application of an adaptive fuzzy integral sliding mode control law. The validity and efficiency of the proposed approaches are investigated through a sixth order uncertain mechanical system.

scholarly journals Quantized Feedback Control Design of Nonlinear Large-Scale Systems via Decentralized Adaptive Integral Sliding Mode Control

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Yan-Mei Xue ◽  
Bo-Chao Zheng ◽  
Dan Ye
Keyword(s):  
Sliding Mode Control ◽  
Large Scale ◽  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Linear Matrix ◽  
Control Law ◽  
Large Scale Systems ◽  
Integral Sliding Mode Control ◽  
Integral Sliding Mode ◽  
Mode Control

A novel decentralized adaptive integral sliding mode control law is proposed for a class of nonlinear uncertain large-scale systems subject to quantization mismatch between quantizer sensitivity parameters. Firstly, by applying linear matrix inequality techniques, integral-type sliding surface functions are derived for ensuring the stability of the whole sliding mode dynamics and obtaining the prescribed boundedL2gain performance. Secondly, the decentralized adaptive sliding mode control law is developed to ensure the reachability of the sliding manifolds in the presence of quantization mismatch, interconnected model uncertainties, and external disturbances. Finally, an example is shown to verify the validity of theoretical results.

Neural Adaptive Sliding Mode Control for a Class of Nonlinear Neutral Delay Systems

2008 ◽  
Vol 130 (6) ◽  
Author(s):  
Yugang Niu ◽  
James Lam ◽  
Xingyu Wang ◽  
Daniel W. C. Ho
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Delay System ◽  
Delay Systems ◽  
Adaptive Sliding Mode Control ◽  
Linear Matrix ◽  
Sliding Surface ◽  
Neutral Delay ◽  
Neutral Delay Systems ◽  
Mode Control

This paper is concerned with the problem of sliding mode control (SMC) for a class of neutral delay systems with unknown nonlinear uncertainties that may not satisfy the norm-bounded condition. A SMC scheme based on neural-network approximation is proposed for the uncertain neutral delay system. By means of linear matrix inequality (LMI) approach, a sufficient condition is given such that the resultant closed-loop system is guaranteed to be stable, and the states asymptotically converge to zero. When the LMI is feasible, the designs of both the sliding surface and the sliding mode control law can be easily obtained via convex optimization. It is shown that the state trajectories are driven toward the specified sliding surface that depends on the current states as well as the delayed states. Finally, a simulation result is given to illustrate the effectiveness of the proposed method.

scholarly journals Discrete-Time Sliding-Mode Control of Uncertain Systems with Time-Varying Delays via Descriptor Approach

2008 ◽  
Vol 2008 ◽  
pp. 1-8 ◽  
Author(s):  
Maode Yan ◽  
Aryan Saadat Mehr ◽  
Yang Shi
Keyword(s):  
Sliding Mode Control ◽  
Discrete Time ◽  
Sliding Mode ◽  
Existence Condition ◽  
Linear Matrix ◽  
Time Varying ◽  
Sliding Surface ◽  
Mode Control ◽  
Descriptor Approach ◽  
Delay Dependent

This paper considers the problem of robust discrete-time sliding-mode control (DT-SMC) design for a class of uncertain linear systems with time-varying delays. By applying a descriptor model transformation and Moon's inequality for bounding cross terms, a delay-dependent sufficient condition for the existence of stable sliding surface is given in terms of linear matrix inequalities (LMIs). Based on this existence condition, the synthesized sliding mode controller can guarantee the sliding-mode reaching condition of the specified discrete-time sliding surface for all admissible uncertainties and time-varying delays. An illustrative example verifies the effectiveness of the proposed method.

scholarly journals On Chattering-Free Dynamic Sliding Mode Controller Design

2012 ◽  
Vol 2012 ◽  
pp. 1-7 ◽  
Author(s):  
Jeang-Lin Chang
Keyword(s):  
Sliding Mode Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Law ◽  
Mode Control ◽  
Chattering Free ◽  
Dynamic Sliding Mode Control ◽  
System States ◽  
Dynamic Sliding Mode ◽  
Free Dynamic

For a class of linear MIMO uncertain systems, a dynamic sliding mode control algorithm that avoids the chattering problem is proposed in this paper. Without using any differentiator, we develop a modified asymptotically stable second-order sliding mode control law in which the proposed controller can guarantee the finite time convergence to the sliding mode and can show that the system states asymptotically approach to zero. Finally, a numerical example is explained for demonstrating the applicability of the proposed scheme.

Robust chattering-free optimal sliding-mode control using recurrent neural networks: An H∞-based approach

2019 ◽  
Vol 41 (13) ◽  
pp. 3565-3580 ◽  
Author(s):  
Hamid Toshani ◽  
Mohammad Farrokhi
Keyword(s):  
Neural Networks ◽  
Sliding Mode Control ◽  
Recurrent Neural Networks ◽  
Sliding Mode ◽  
Linear Matrix ◽  
Control Law ◽  
Tracking Accuracy ◽  
Mode Control ◽  
Chattering Free ◽  
Feedback Error

In this paper, a robust and chattering-free sliding-mode control strategy using recurrent neural networks (RNNs) and H∞ approach for a class of nonlinear systems with uncertainties is proposed. The dynamic and algebraic models of the RNN are extracted based on the nominal model of the system and formulation of a quadratic programming problem. For tuning the parameters of the sliding surface, the performance index and the switching coefficient, a robust approach based on the H∞ method is developed. To this end, the control law is divided into two parts: (1) the main term, which includes the feedback error and (2) other terms, which include the network states, the reference input and its derivatives and the effects of the uncertainties. The feedback error gain is tuned by solving a linear matrix inequality. The neural optimizer determines the sliding-mode control law without being directly affected by the uncertainties. By applying the proposed method to the continuous-stirred reactor tank and the inverted pendulum problems, the performance of the proposed controller has been evaluated in terms of the tracking accuracy, elimination of the chattering, robustness against the uncertainties and feasibility of the control signals. Moreover, the results are compared with the conventional and twisting sliding-mode control methods.

Robust Optimal Sliding Mode Control for Attitude Synchronization of Autonomous Docking to a Tumbling Target

2012 ◽  
Vol 157-158 ◽  
pp. 757-761
Author(s):  
Wei Lu ◽  
Yun Hai Geng ◽  
Xiao Wei Shan
Keyword(s):  
Sliding Mode Control ◽  
Measurement Errors ◽  
Sliding Mode ◽  
Algorithm Design ◽  
Salient Feature ◽  
Control Law ◽  
Sliding Surface ◽  
Mode Control ◽  
Tumbling Target ◽  
Attitude Synchronization

This paper investigates the control problem of attitude synchronization for an on-orbit servicing spacecraft autonomously docking to a freely tumbling target in space. An optimal sliding surface is designed based on optimal control theory, followed by a robust optimal sliding mode control law designed for attitude synchronization in accordance. Meanwhile, the unknown but bounded external disturbances, parameter variations, model uncertainties, and measurement errors are all considered during the control algorithm design. The salient feature of this control law is that the relative attitude variables will converge to the origin in the sense of optimality with respect to a quadratic cost function once the sliding surface is reached. The simulation results validate the effectiveness and robustness of the designed robust optimal sliding mode control law.

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