Sliding Mode Control for a Class of Unmatched Uncertain Linear System

2011 ◽  
Vol 422 ◽  
pp. 846-849
Author(s):  
Zhan Shan Zhao ◽  
Lian Kun Sun ◽  
Jing Zhang
Keyword(s):  
Uncertain Systems ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Simulation Studies ◽  
Integral Sliding Mode ◽  
Uncertain Linear System ◽  
Self Tuning ◽  
Novel Method ◽  
The Stability ◽  
Nonlinear Robust

A novel method of designing nonlinear robust sliding mode controller is presented to a class of nonlinear unmatched uncertain systems based on integral sliding mode and self-tuning law. Firstly, the unmatched is will not be amplified by the discontinuous control. Then the controller based on integral sliding mode is constructed to ensure the robustness. The stability of proposed procedure is proven by using the Lyapunov theory and guarantees robustness against uncertainties. The upper bounds of uncertainties are not required to be known in advance. Finally, simulation studies demonstrate that the proposed controller is robust with respect to the perturbation.

Design and Analysis of Optimization Algorithm for a Class of Uncertain Linear System

2013 ◽  
Vol 834-836 ◽  
pp. 1885-1888
Author(s):  
Hong Liu
Keyword(s):  
Linear System ◽  
Optimization Algorithm ◽  
Performance Index ◽  
Uncertain Systems ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
The Other ◽  
Linear Controller ◽  
Uncertain Linear System ◽  
The Stability

An optimization algorithm method design and analysis is presented for class of linear uncertain systems. Firstly, it is shown that disturbances of linear uncertain systems are divided two parts by the projection matrix, one is matched and the other is unmatched part. Then the controller based on integral sliding mode and optimization performance index is constructed to ensure the robustness of the linear uncertain systems. Additionally, we give an optimization performance guaranteeing the stability of proposed procedure by using the Lyapunov theory. Simulations show the effectiveness of the method proposed that a linear system is best controlled by a linear controller.

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.

scholarly journals Optimal New Sliding Mode Controller Combined with Modified Supertwisting Algorithm for a Perturbed Quadrotor UAV

2020 ◽  
Vol 2020 ◽  
pp. 1-10
Author(s):  
Yassine El Houm ◽  
Ahmed Abbou ◽  
Moussa Labbadi ◽  
Mohamed Cherkaoui
Keyword(s):  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Time Varying ◽  
Sliding Surface ◽  
State Variables ◽  
Quadrotor Uav ◽  
The Stability ◽  
Quadrotor System

This paper deals with the design of a novel modified supertwisting fast nonlinear sliding mode controller (MSTFNSMC) to stabilize a quadrotor system under time-varying disturbances. The suggested control strategy is based on a modified supertwisting controller with a fast nonlinear sliding surface to improve the tracking performance. The paper suggests a simple optimization tool built-in MATLAB/Simulink to tune the proposed controller parameters. Fast convergence of state variables is established by using a nonlinear sliding surface for rotational and translational subsystems. The modified supertwisting controller is developed to suppress the effect of chattering, reject disturbances, and ensure robustness against external disturbance effect. The stability of the proposed controller (MSTFNSMC) is proved using the Lyapunov theory. The performance of the proposed MSTFNSMC approach is compared with the supertwisting sliding mode controller (STSMC) by numerical simulations to verify its effectiveness.

Self-Tuning Fuzzy Robust Control for Buildings with Sliding Bearing Isolation Under Seismic Excitation

2005 ◽  
Vol 9 (2) ◽  
pp. 100-105 ◽  
Author(s):  
Ken Yeh ◽  
◽  
Chun-Chieh Chien ◽  
Cheng-Wu Chen ◽  
Han-Hsi Liang ◽  
...  
Keyword(s):  
Robust Control ◽  
Structural Control ◽  
Sliding Mode ◽  
Fuzzy Rule ◽  
Lyapunov Theory ◽  
Seismic Excitation ◽  
Sliding Bearing ◽  
Self Tuning ◽  
Simulation Results ◽  
Rule Bases

The purpose of this paper is to apply self-tuning fuzzy robust control for structurally controlling buildings with sliding bearing isolation. Combining fuzzy control and robust control such as sliding mode control reduces fuzzy rule bases complexity and ensures stability and robustness. Lyapunov theory is used to develop a self-tuning law. Stiffness uncertainty and time delay is utilized to demonstrate the robustness of this proposed algorithm. The effectiveness of this algorithm is demonstrated by simulation results for the Taiwan Chi Chi earthquake in 1999. Simulations show that self-tuning fuzzy robust control achieves satisfactory results in the application of structural control for buildings with sliding bearing isolators.

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 A neural network combined with sliding mode controller for the two-wheel self-balancing robot

2021 ◽  
Vol 10 (3) ◽  
pp. 592
Author(s):  
Duc-Minh Nguyen ◽  
Van-Tiem Nguyen ◽  
Trong-Thang Nguyen
Keyword(s):  
Neural Network ◽  
Control Method ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
Sliding Mode Controller ◽  
Control Laws ◽  
Noise Compensation ◽  
Simulation Results ◽  
Balancing Robot ◽  
The Stability

This article presents the sliding control method combined with the selfadjusting neural network to compensate for noise to improve the control system's quality for the two-wheel self-balancing robot. Firstly, the dynamic equations of the two-wheel self-balancing robot built by Euler–Lagrange is the basis for offering control laws with a neural network of noise compensation. After disturbance-compensating, the sliding mode controller is applied to control quickly the two-wheel self-balancing robot reached the desired position. The stability of the proposed system is proved based on the Lyapunov theory. Finally, the simulation results will confirm the effectiveness and correctness of the control method suggested by the authors.

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