Dynamic output feedback sliding mode control for uncertain. Static output feedback sliding mode control for time. In order to achieve the goal, the sliding mode control scheme only using output information is designed, and at the same time, the structures of a sliding mode surface and a sliding mode controller are also. Abstract in this paper a new algorithm for discretetime sliding mode control using only output samples is proposed. Pdf position control of pneumatic actuator using multi. This paper is concerned with eventtriggered sliding mode control smc for uncertain stochastic systems subject to limited communication capacity. Pdf discretetime output feedback sliding mode control for. Dynamic output feedback rbf neural network sliding mode. Output feedback stabilization of an inertia wheel pendulum. Static output feedback sliding mode control design via an arti. It is shown that the output feedback gain can be directly obtained using the reaching law of discretetime sliding mode. The design is based on sliding mode control, pole placement of the closedloop eigenvalues, and linear functional observers for regeneration of the equivalent control and the sliding function from output measurements.
Adaptive output feedback second order sliding mode control. It is shown that both the switching surface design problem for the static case and the switching surface and compensator design for the dynamic case may be formulated as a static output feedback problem for particular system triples. Mathematics free fulltext robust synchronization of. With the increasing use of computers and discretetime samplers in controller implementation in the recent past, discretetime systems and computer based control have become important topics. If it is the case, a second order sliding mode versus z1 is established. It is shown that the solution can be found in the synergy of the multirate output sampling concept and the concept of. Driven by these challenging issues and desired performance, this paper proposes an output feedback terminal sliding mode control tsmc framework which is developed for cstr, and can estimate the. With the increasing use of computers and discretetime samplers in controller implementation in the recent past, discretetime systems and computer based control have.
Active structural control using dynamic output feedback. Discrete systems, sliding mode control, fast output sampling, output feedback, reaching law. Sliding mode control design for mismatched uncertain systems. Introduction the control problem sliding mode techniques were perhaps originally best known for their potential as a robust control method, and evolved from pioneering work in the 1960s in the former soviet union. Pdf output feedback sliding mode control of fractional systems. The problematic issues in control of a cstr are the model uncertainties and external disturbances. Driven by these challenging problems coupled with the need for demanding levels of performance, this paper establishes the dynamic model of cstr and then proposes an output feedback sliding mode control in light of the established model. We consider the stochastic perturbation, exogenous disturbance and the networkinduced communication constraints in a whole framework of smc design. Janardhanan sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. The control objective is to force each output signal to track a desired reference trajectory. Output feedback slidingmode control with unmatched. Second order sliding modebased 1 output feedback tracking control for uncertain robot manipulators. In, a state observerbased sliding mode control is designed for a class of switched systems in which the system states are unmeasurable. Then a static output feedback sliding mode control with time delay is synthesized to drive the system to the sliding surface in finite time.
Robust output feedback sampling control based on second order. Such a sliding mode control is characterised by a suite of feedback control laws and a decision rule. Position control of pneumatic actuator using multirate output feedback sliding mode control. This paper presents a sliding mode control of fractional system using static output feedbacks. The algorithm is based on dynamic output feedback smc, rbf neural network and adaptive control. Two types nonadaptive and adaptive of sliding mode.
Lyapunovbased sliding mode control with multirate output. This article considers the problem of sliding mode output feedback control for networked control systems ncss. Pdf discretetime output feedback sliding mode control. Research article discrete time output feedback sliding. A dynamic output feedback radial basis function rbf neural network sliding mode control smc scheme is proposed to realize the problem of robust tracking and model following for a class of uncertain timedelay systems. Sliding mode output feedback control of vibration in a flexible structure 25 april 2007 journal of dynamic systems, measurement, and control, vol. Discretetime output feedback sliding mode control for timedelay systems with uncertainty. Pdf output feedback sliding mode control for robot. With respect to the second area, discretetime systems, it is wellknown that chattering or oscillation problems occur at the boundary layer when the controls are implemented by digital computers. The design of sliding surface and the existence of sliding mode. Pdf output feedback sliding mode control for a class of.
Pdf in this paper, the problem of output feedback sliding mode control of linear sampleddata multiinput multi output systems is considered. Outputfeedback slidingmode control for systems subjected to actuator and internal dynamics failures. Sliding mode control an overview sciencedirect topics. Thus, it is of both theoretical and practical importance to analyze the issue of robust synchronization of driveresponse focs by only using the output feedback information. Abstract the paper deals with the problem of adaptive fuzzy output feedback sliding mode control for switched uncertain nonlinear systems with input saturation. Sliding mode control of mechanical systems with bounded. Linear matrix inequality based static output feedback sliding. Summary in this article, the problem of asynchronous adaptive dynamic output feedback sliding mode control smc for a class of takagi. This monograph presents an output feedback sliding mode control philosophy which can be applied to almost all controllable and observable systems, while at the same time being simple enough as not to tax the computer too much.
Abstract in this paper, the robust stabilization problem for a class of nonlinear uncertain systems is studied using sliding mode techniques. Output feedback stabilization of an inertia wheel pendulum using sliding mode control abstract. Research article output feedback fractionalorder nonsingular terminal sliding mode control of underwater remotely operated vehicles yaoyaowang, 1 jiawangchen, 2 andlinyigu 1 state key lab of fluid power transmission and control, zhejiang university, hangzhou, china. Higherorder sliding modes preserve or generalize the main properties of the standard sliding mode and remove the above restrictions. Feb 07, 2019 in this paper, we present an output feedback based design of eventtriggered sliding mode control for delta operator systems. Outputfeedback slidingmode control for systems subjected. This site is like a library, use search box in the widget to get ebook that you want. The problem of designing output feedback controller via sliding mode control to stabilize multivariable plants has recently been proposed by these papers. Compared with continuous time sliding mode strategies, the design problem in discrete time is much less mature. Adaptive output feedback sliding mode control for complex. A sliding surface is designed and the stability of the corresponding sliding motion is analysed based on the razumikhin theorem. In, a global decentralised static output feedback smc control scheme is proposed for interconnected timedelayed systems where the interconnection terms are functions of the output.
Research article adaptive output feedback sliding mode. Adaptive fuzzy outputfeedback sliding mode control for. In this case, dynamic output feedback sliding mode control is necessary. Static output feedback sliding mode control design via an. Finally, we note that elkhazali 1998 proposes an output feedback sliding mode control design method for similar uncertain timedelay systems. Global exact tracking for uncertain systems using output feedback sliding mode control. Sliding mode control, lyapunov functions, adaptive control, variable structure control. Variablestructure control, sliding mode control, output feedback, time del ay, nonlinear systems, global stability, observers. Pdf global exact tracking for uncertain systems using. Pdf on the control effort in output feedback sliding.
It has also been shown that, by extending the outputs, the relative degree condition associated with the solution of the existence problem can be relaxed for output feedback based sliding mode control. Based on linear matrix inequality approach, a new approach is given to design the static output feedback sliding mode surface. Sliding mode control is a simple and yet robust control technique, where the system states are made to confine to a selected subset. Matched and mismatched uncertainties are both considered. Output feedback sliding mode control with support vector.
Robust synchronization of fractionalorder uncertain chaotic. Pdf output feedback sliding mode control for continuous. In this work, we propose an output feedback sliding mode control smc method for trajectory tracking of robotic manipulators. This control signal will be driven by the dynamics of an observer. The proposed controller is a sliding mode controller with an integral surface and an adaptive gain which is known as adaptive output feedback sliding mode controller. Output feedback sliding mode control for a class of uncertain multivariable systems with unmatched nonlinear disturbances. Most of the smc control strategies are based on state feedback, however not all. This paper develops an output feedback sliding mode control law for linear mimo systems having mismatched parameter uncertainties along with disturbances and matched perturbations. This paper mainly focuses on the robust synchronization issue for driveresponse fractionalorder chaotic systems focs when they have unknown parameters and external disturbances. Static output feedback sliding mode control for nonlinear. Early on, zak and hui developed an algorithm for output dependent sliding surface design of uncertain systems, based on the eigenstructure method. It is shown that the trajectory tracking performance is improved with respect to a conventional output feedback sliding mode control scheme having constant sliding mode observer gains. The paper addresses the problem of designing stabilizing output feedback controllers for a class of nonlinear seismically excited base isolated structures with unknown parametrical uncertainties.
Driven by these challenging problems coupled with the need for demanding levels of performance, this paper establishes the dynamic model of cstr and then proposes an output feedback sliding mode. This study presents an outputfeedback control algorithm based on unit vector sliding mode for a class of multivariable systems. Introduction sliding mode control is considered as one of the main methods for control and observation under uncertainty conditions utkin, 1992, utkin, 2009. Output feedback sliding mode control approaches using.
Lecture notes in control and information sciences, vol 392. Dof trajectory tracking control problem of underwater vehicles in the presence of parametric uncertainties and external disturbances, a novel multivariable output feedback adaptive nonsingular terminal sliding mode control antsmc approach is proposed based on the equivalent output injection adaptive. Second, based on a new lemma, a decentralized adaptive sliding mode controller. Output feedback based eventtriggered sliding mode control. For the 4dof degrees of freedom trajectory tracking control problem of underwater remotely operated vehicles rovs in the presence of model uncertainties and external disturbances, a novel output feedback fractionalorder nonsingular terminal sliding mode control fontsmc technique is introduced in light of the equivalent output injection. Multivariable output feedback adaptive terminal sliding. This method applies a floating gain to relieve the chattering problem, and the unknown uncertainties and disturbances were adaptively estimated and compensated by the updated sliding control method. Output feedback sliding mode control with unmatched disturbances, an iss approach. An ilmi approach to robust static output feedback sliding mode control. Output feedback slidingmode control with unmatched disturbances, an iss approach. In sliding mode control for continuous time systems, it has been shown that the relative degree condition associated with the solution of the existence problem can be weakened see for example hsu et al. Research article output feedback fractionalorder nonsingular. It is seen that the trajectory tracking performance is improved with respect to a conventional output feedback sliding mode control scheme having constant sliding mode observer gains.
A good approach to solving the output feedback problem using a sliding mode controller. For discretetime systems, multirate output sampling based state estimation technique is very useful if the output information is available. Pdf output feedback sliding mode control of base isolated. An ilmi approach to robust static output feedback sliding. Sliding mode control theory and applications download. This paper presents the problem of static output feedback sliding mode control for a class of nonlinear delay systems with normbounded uncertainties. Pdf output feedback sliding mode control of fractional. Based on sliding mode control technique, an adaptive fuzzy sliding mode controller is designed for switched uncertain nonlinear systems by using fuzzy logic systems to approximate the. Classical sliding modes can bring an output to zero in nite time and. First, su cient conditions in terms of linear m atrix inequalities are derived such that the equivalent reducedorder system in the sliding mode is asymptotically stable. Output feedback and singlephase sliding mode control for. The idea developed in this paper is to broaden the class of systems for which a static output feedback based sliding mode controller can be developed based on a recent result from time delay systems. Observer gain adaptation of output feedback sliding mode.
May 23, 2012 sliding mode and shaped input vibration control of flexible systems ieee transactions on aerospace and electronic systems, vol. Output feedback fractionalorder nonsingular terminal sliding. Pdf output feedback linearizationadaptive sliding mode. This paper presents a dynamic output feedback control approach to active control of civil engineering structures. Linear matrix inequality based static output feedback. Eventtriggered sliding mode control of stochastic systems. Dynamic output feedback sliding mode control for a class. Asynchronous adaptive output feedback sliding mode control. Second order sliding modebased output feedback tracking.
The proposed sliding mode controller is derived to guarantee the existence of quasi sliding mode by using output feedback. Click download or read online button to get sliding mode control theory and applications book now. Discrete sliding mode control using fast output sampling feedback. Fractional systems are described by differential equations of noninteger commensurate order. Output feedback sliding mode control under networked. Discretetime sliding mode control a multirate output.
Robust synchronization of fractionalorder uncertain. In this paper, a discrete sliding mode controller with multirate output feedback is designed to control the inverted pendulum system at the upright position. Discrete time output feedback sliding mode control for. This paper investigates the application of a novel robust output feedback stabilizing controller to an inertia wheel pendulum iwp a bench mark problem in the control of underactuated mechanical systems. Global output feedback sliding mode control of nonlinear. First, sufficient conditions in terms of linear matrix inequalities are derived such that the equivalent reducedorder system in the sliding mode is asymptotically stable. Higherorder sliding modes, differentiation and output. Introduction sliding mode control smc is an attractive methodology for nonlinear systems, being robust to parameter uncertainties and disturbances utkin et al. But at high sampling rates, the discretetime representation of the system using shift operator becomes numerically ill. Spurgeon and emilia fridman abstractit is well known that for linear, uncertain systems, a static output feedback sliding mode controller can only be determined if a particular triple associated. The key idea is to make use of not only the current and previous measurements, but also previous inputs for the reconstruction of the state variables.
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