Dynamic controller design for a class of nonlinear uncertain systems subjected to time-varying disturbance

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14 Citations (Scopus)

Abstract

Inheriting advantages of both proportional-integral-derivative controller and standard sliding mode control theory, a synthetic controller design for a class of nonlinear system is presented. Regarding the architecture of the developed controller, it does not include model-based nominal control term so that the method eliminates complicated processes for system parameters identification and design of extra compensators. With simple gain tuning rules, the proposed control algorithm provides global asymptotical stability and is capable of alleviating discontinuous control switching considerably. A self-sustained oscillations phenomenon caused by the proposed control configuration is also further addressed. Simulations and experiments are conducted to verify the feasibility and applicability of the proposed approach.

Original languageEnglish
Pages (from-to)411-423
Number of pages13
JournalNonlinear Dynamics
Volume57
Issue number3
DOIs
Publication statusPublished - 2009 Aug 1

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Uncertain Nonlinear Systems
Uncertain systems
Controller Design
Time-varying
Disturbance
Global Asymptotical Stability
Controller
Switching Control
Controllers
Parameter Identification
Compensator
Sliding Mode Control
System Identification
Parameter Design
Control Theory
Control Algorithm
Categorical or nominal
System Design
Tuning
Eliminate

All Science Journal Classification (ASJC) codes

  • Applied Mathematics
  • Mechanical Engineering
  • Aerospace Engineering
  • Ocean Engineering
  • Electrical and Electronic Engineering
  • Control and Systems Engineering

Cite this

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AB - Inheriting advantages of both proportional-integral-derivative controller and standard sliding mode control theory, a synthetic controller design for a class of nonlinear system is presented. Regarding the architecture of the developed controller, it does not include model-based nominal control term so that the method eliminates complicated processes for system parameters identification and design of extra compensators. With simple gain tuning rules, the proposed control algorithm provides global asymptotical stability and is capable of alleviating discontinuous control switching considerably. A self-sustained oscillations phenomenon caused by the proposed control configuration is also further addressed. Simulations and experiments are conducted to verify the feasibility and applicability of the proposed approach.

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